R.J. van der Kruk , B.H.T. Bindels , H.P.J. Bruyninckx , M.J.G. van de Molengraft
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This paper builds on previously published conference work (van der Kruk et al., 2023), incorporating a self-adjusting method, a specialised gripper, validation for significant mass variations, a frequency domain analysis and experimental results using chicken fillets handling. A passive rotational single degree of freedom is incorporated into a standard bellow vacuum gripper to minimise the torque applied to the end effector alongside input shaping. The accelerations allowed in the end effector are increased. Robustness against peel-off at higher accelerations is improved while leveraging the advantages of swing-free controls. Automatic tuning of the control parameters is achieved through a background subtraction method that measures the tracking errors in the joint motion controllers. The effectiveness of the proposed method is validated through a practical use case involving chicken fillet packaging with a fast industrial delta robot. This is a weight and pick-up spread case test. 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引用次数: 0
摘要
本文介绍了在机器人拾放应用中对吸入式产品的一种新控制方法,旨在显著降低剥离力和超程。一个受控的小车-摆-质量模型近似了机器人与附加负载的复杂动力学。根据相对动态放置误差与振动时间与移动时间之比之间的关系,概述了设计程序。概述了设计方法的实施算法。该程序能够确定最高加速度值,从而将精度保持在所需范围内。本文以之前发表的会议工作(van der Kruk 等人,2023 年)为基础,结合了自调整方法、专用夹具、重大质量变化验证、频域分析以及使用鸡排处理的实验结果。在标准波纹管真空机械手中加入了一个被动旋转单自由度,以最大限度地减少输入塑形时施加到末端效应器上的扭矩。末端效应器允许的加速度增加了。在利用无摆动控制优势的同时,提高了在更高加速度下防止剥离的稳定性。通过测量关节运动控制器的跟踪误差的背景减法实现了控制参数的自动调整。通过使用快速工业三角洲机器人进行鸡排包装的实际案例,验证了所提方法的有效性。这是一个重量和拾取传播案例测试。使用相同的恒定参数,可持续拾取和处理工业用例重量分布范围内的所有鸡排,而不会出现剥离现象。零振动输入插齿机在实际变化(如重量和拾取姿势)中表现出最佳的整体性能,其固有频率变化在 10%以内。
Automatic control for swing-free control of suctioned products in robotic pick-and-place operations
This paper introduces a new control method for suctioned products in robotic pick-and-place applications with the aim of significantly reducing the peel-off force and overshooting. A controlled cart-pendulum-mass model approximates the complex dynamics of the robot with the attached load. A design procedure is outlined based on the relationship between relative dynamic placement inaccuracy and the ratio of vibration time to move time. An algorithm is outlined for the implementation of the design method. This procedure enables the determination of the highest acceleration value that maintains accuracy within the desired range. This paper builds on previously published conference work (van der Kruk et al., 2023), incorporating a self-adjusting method, a specialised gripper, validation for significant mass variations, a frequency domain analysis and experimental results using chicken fillets handling. A passive rotational single degree of freedom is incorporated into a standard bellow vacuum gripper to minimise the torque applied to the end effector alongside input shaping. The accelerations allowed in the end effector are increased. Robustness against peel-off at higher accelerations is improved while leveraging the advantages of swing-free controls. Automatic tuning of the control parameters is achieved through a background subtraction method that measures the tracking errors in the joint motion controllers. The effectiveness of the proposed method is validated through a practical use case involving chicken fillet packaging with a fast industrial delta robot. This is a weight and pick-up spread case test. All fillets in the industrial use-case weight distribution range can be consistently picked and handled using the same constant parameters without experiencing peel-off. The Zero Vibration input shaper demonstrates the best overall performance for realistic variations (such as weight and pick-up pose), well within 10% of the variations of the natural frequency.
期刊介绍:
Robotics and Autonomous Systems will carry articles describing fundamental developments in the field of robotics, with special emphasis on autonomous systems. An important goal of this journal is to extend the state of the art in both symbolic and sensory based robot control and learning in the context of autonomous systems.
Robotics and Autonomous Systems will carry articles on the theoretical, computational and experimental aspects of autonomous systems, or modules of such systems.