Novel force-sensor-less contact motion control for quick and smooth industrial robot motion

There have been numerous studies on the physical human-robot cooperative task system with impedance/admittance control in robot motion control. However, the problem of stability persists, wherein the control system becomes unstable when the robot comes into contact with a highly stiff environment. A variable impedance control strategy was proposed to circumvent this stability problem. However, a number of studies on variable impedance control are based on the variation of a parameter in the robot motion control software, and a mechanical variable impedance control has not been proposed. The purpose of this research is to propose a mechanical variable impedance control strategy using a mechanical device based on the lever principle. The proposed mechanism can adjust the magnitude of the input force to the force sensor by changing the position of application of the operating force on the beam. Adjusting the magnitude of the input force to the force sensor is equivalent to varying the impedance parameters of the robot; therefore, it is feasible to achieve mechanical variable impedance control using the proposed mechanism. In this study, the gain adjustment characteristics of the proposed mechanism were evaluated. The experimental results demonstrated that the operator can vary the impedance parameters of the robot by mechanically adjusting the input force to the force sensor and operating the robot using the proposed mechanism.

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Kinematic Modeling for a 6-DOF Industrial Robot

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.590.471 ◽

2012 ◽

Vol 590 ◽

pp. 471-474 ◽

Cited By ~ 2

Author(s):

Guan Bin Gao ◽

Jian Lu ◽

Jian Jun Zhou

Keyword(s):

Motion Control ◽

Structural Characteristics ◽

Industrial Robot ◽

Structural Parameters ◽

Kinematic Model ◽

Great Influence ◽

Robot Motion ◽

Coordinate Systems ◽

Kinematic Modeling ◽

Position And Orientation

The kinematic model of robots is to describe the nonlinear relationship between the displacement of joints and the position and orientation of the end-effector, which is an important part of robotics. Kinematic model has great influence on the robot’s accuracy and motion control. In this paper, we studied the robot’s kinematic modeling methods and analyzed the characteristics and singularity of traditional DH method. By analyzing and comparing the structural characteristics of a 6-DOF industrial robot a MDH method was chosen to establish kinematic model. From the kinematic model the joint coordinate systems, structural parameters and homogeneous transformation matrixes of the robot are obtained. The kinematic model provides a theoretical basis for the robot motion control, calibration and error compensation.

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Research on a Denoising Method of the Force Sensor Signal Based on Multiple Filter

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.727-728.620 ◽

2015 ◽

Vol 727-728 ◽

pp. 620-625

Author(s):

Xiao Jian Wu ◽

Guo Kun Zuo ◽

Zhong Zhu Yang ◽

Shang Qing Xiao

Keyword(s):

Motion Control ◽

Digital Filtering ◽

Force Sensor ◽

Robot Motion ◽

Rehabilitation Robot ◽

Denoising Method ◽

Filtering Algorithm ◽

First Order ◽

Advantages And Disadvantages ◽

The Common

Forcesensor is very important in the rehabilitation robot. However, the force sensorsignals will introduce noise easily on the process of transmitting, amplifyingand sampling, which is very unfavorable for the robot motion control. Thispaper reviews the common digital filtering algorithm and analyzes theirprinciples, advantages and disadvantages, then designs an improved filteringalgorithm combines the limiting filtering algorithm withthe first-order lag filtering algorithm. At last, this paper verifies thefiltering effect by theoretical analysis, simulation and experiments.

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High-performance robot motion control based on zero-phase notch filter for industrial robot

2010 11th IEEE International Workshop on Advanced Motion Control (AMC) ◽

10.1109/amc.2010.5464060 ◽

2010 ◽

Cited By ~ 7

Author(s):

Satoru Kumagai ◽

Kiyoshi Ohishi ◽

Naoki Shimada ◽

Toshimasa Miyazaki

Keyword(s):

Motion Control ◽

High Performance ◽

Industrial Robot ◽

Notch Filter ◽

Robot Motion ◽

Zero Phase

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Industrial robot motion control with real-time Java and EtherCAT

2007 IEEE Conference on Emerging Technologies & Factory Automation (EFTA 2007) ◽

10.1109/efta.2007.4416960 ◽

2007 ◽

Cited By ~ 8

Author(s):

Sven Gestegard Robertz ◽

Klas Nilsson ◽

Roger Henriksson ◽

Anders Blomdell

Keyword(s):

Real Time ◽

Motion Control ◽

Industrial Robot ◽

Robot Motion

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Numerical Simulation of Inertia Matrix for 6 DoF Industrial Robot

Journal of Robotics and Mechanical Engineering ◽

10.53996/2770-4122.jrme.1000102 ◽

2021 ◽

Vol 1 (1) ◽

Author(s):

Jelena Vidakovic ◽

Vladimir Kvrgic ◽

Pavle Stepanic

Keyword(s):

Numerical Simulation ◽

Motion Control ◽

Industrial Robot ◽

Equations Of Motion ◽

Process Models ◽

Robot Motion ◽

Revolute Joints ◽

Inertia Matrix ◽

Robot Configuration ◽

Selection Of

The robot dynamic model is essential for the precision and reliability of robot design, motion control, and simulation. A robot inertia matrix, whose elements are coefficients of joint accelerations within the robot equations of motion, plays an important role in the robot’s control design. During robot motion, elements of the inertia matrix are functions of robot configuration (robot joint positions). To facilitate the development of process models and to make an appropriate selection of motion control algorithms, it is useful to perform numerical simulations of inertia matrix elements for different robot trajectories. In this paper, numerical simulation of inertia matrix is presented for 6 DoF industrial robot with revolute joints for the programmed robot motion. Inertia matrix is obtained from the robot dynamical model developed by using modified recursive Newton-Euler algorithm. Based on the presented simulations, variation of effective inertias and magnitude and variation of cross-coupling effects in the robot inertia matrix are examined.

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