遥控双机械臂智能避碰平台的设计与开发

IF 5.2 2区 计算机科学 Q2 ROBOTICS
Samrat Gautam, Ming Li, Daniel Roozbahani, Marjan Alizadeh, Heikki Handroos
{"title":"遥控双机械臂智能避碰平台的设计与开发","authors":"Samrat Gautam,&nbsp;Ming Li,&nbsp;Daniel Roozbahani,&nbsp;Marjan Alizadeh,&nbsp;Heikki Handroos","doi":"10.1002/rob.22565","DOIUrl":null,"url":null,"abstract":"<p>The aim of this study was to develop collision avoidance control for a teleoperated dual robotic arm to minimize collisions in human-robot collaboration. Generally, in the absence of work cell mapping, collision checking in a teleoperated mobile robot is performed based on motor current or torque. However, this method cannot predict collisions that may occur during robot maneuvering. To overcome this problem, collision checking based on the description file model of the robot, and collision avoidance based on proximity sensors were designed for the robot's neighboring link and end-effector, respectively. The UR10 robotic arm was modeled in MATLAB. The reachable point in the workspace of the robotic arm and the Geomagic Touch haptic device was calculated using the Adaptive Neuro Fuzzy Inference System (ANFIS) method. Two sets of experiments with different scenarios were carried out to detect and avoid collision in the neighboring link and end-effector. The test results confirmed the effectiveness of the developed collision avoidance control performance in eliminating the risk of collision in the working environment of the teleoperated mobile robot. The approach presented in this study can be applied to almost any similar commercial robot as an independent or system-integrated package.x</p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 7","pages":"3047-3062"},"PeriodicalIF":5.2000,"publicationDate":"2025-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22565","citationCount":"0","resultStr":"{\"title\":\"Design and Development of an Intelligent Collision Avoidance Platform for a Teleoperated Dual Robotic Arm\",\"authors\":\"Samrat Gautam,&nbsp;Ming Li,&nbsp;Daniel Roozbahani,&nbsp;Marjan Alizadeh,&nbsp;Heikki Handroos\",\"doi\":\"10.1002/rob.22565\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p>The aim of this study was to develop collision avoidance control for a teleoperated dual robotic arm to minimize collisions in human-robot collaboration. Generally, in the absence of work cell mapping, collision checking in a teleoperated mobile robot is performed based on motor current or torque. However, this method cannot predict collisions that may occur during robot maneuvering. To overcome this problem, collision checking based on the description file model of the robot, and collision avoidance based on proximity sensors were designed for the robot's neighboring link and end-effector, respectively. The UR10 robotic arm was modeled in MATLAB. The reachable point in the workspace of the robotic arm and the Geomagic Touch haptic device was calculated using the Adaptive Neuro Fuzzy Inference System (ANFIS) method. Two sets of experiments with different scenarios were carried out to detect and avoid collision in the neighboring link and end-effector. The test results confirmed the effectiveness of the developed collision avoidance control performance in eliminating the risk of collision in the working environment of the teleoperated mobile robot. The approach presented in this study can be applied to almost any similar commercial robot as an independent or system-integrated package.x</p>\",\"PeriodicalId\":192,\"journal\":{\"name\":\"Journal of Field Robotics\",\"volume\":\"42 7\",\"pages\":\"3047-3062\"},\"PeriodicalIF\":5.2000,\"publicationDate\":\"2025-04-21\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22565\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Field Robotics\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://onlinelibrary.wiley.com/doi/10.1002/rob.22565\",\"RegionNum\":2,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"ROBOTICS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Field Robotics","FirstCategoryId":"94","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1002/rob.22565","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0

摘要

本研究的目的是开发一种远程操作双机械臂的避碰控制,以减少人机协作中的碰撞。通常,在没有工作单元映射的情况下,远程操作移动机器人的碰撞检测是基于电机电流或转矩进行的。然而,这种方法不能预测机器人在机动过程中可能发生的碰撞。为解决这一问题,分别针对机器人相邻环节和末端执行器设计了基于描述文件模型的碰撞检测和基于接近传感器的避碰。在MATLAB中对UR10机械臂进行建模。采用自适应神经模糊推理系统(ANFIS)方法计算机器人手臂和Geomagic Touch触觉装置工作空间中的可达点。为了检测和避免相邻连杆和末端执行器之间的碰撞,进行了两组不同场景的实验。试验结果证实了所开发的避碰控制性能在消除遥操作移动机器人工作环境中的碰撞风险方面的有效性。在这项研究中提出的方法可以应用于几乎任何类似的商业机器人作为一个独立的或系统集成的包
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Design and Development of an Intelligent Collision Avoidance Platform for a Teleoperated Dual Robotic Arm

Design and Development of an Intelligent Collision Avoidance Platform for a Teleoperated Dual Robotic Arm

The aim of this study was to develop collision avoidance control for a teleoperated dual robotic arm to minimize collisions in human-robot collaboration. Generally, in the absence of work cell mapping, collision checking in a teleoperated mobile robot is performed based on motor current or torque. However, this method cannot predict collisions that may occur during robot maneuvering. To overcome this problem, collision checking based on the description file model of the robot, and collision avoidance based on proximity sensors were designed for the robot's neighboring link and end-effector, respectively. The UR10 robotic arm was modeled in MATLAB. The reachable point in the workspace of the robotic arm and the Geomagic Touch haptic device was calculated using the Adaptive Neuro Fuzzy Inference System (ANFIS) method. Two sets of experiments with different scenarios were carried out to detect and avoid collision in the neighboring link and end-effector. The test results confirmed the effectiveness of the developed collision avoidance control performance in eliminating the risk of collision in the working environment of the teleoperated mobile robot. The approach presented in this study can be applied to almost any similar commercial robot as an independent or system-integrated package.x

求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
Journal of Field Robotics
Journal of Field Robotics 工程技术-机器人学
CiteScore
15.00
自引率
3.60%
发文量
80
审稿时长
6 months
期刊介绍: The Journal of Field Robotics seeks to promote scholarly publications dealing with the fundamentals of robotics in unstructured and dynamic environments. The Journal focuses on experimental robotics and encourages publication of work that has both theoretical and practical significance.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:604180095
Book学术官方微信