Cooperative control of dual-arm robots in different human-robot collaborative tasks

doi:10.1108/AA-12-2018-0264

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Cooperative control of dual-arm robots in different human-robot collaborative tasks
	Yu, Xinbo 1; Zhang, Shuang 1; Sun, Liang 1; Wang, Yu 2; Xue, Chengqian 1; Li, Bin 1
刊名	ASSEMBLY AUTOMATION
	2019-06-28
卷号	40 期号:1 页码:95-104
关键词	Teleoperation Impedance control Baxter robot Cooperative control Human moving target estimation Radial basis functions neural networks (RBFNNs)
ISSN号	0144-5154
DOI	10.1108/AA-12-2018-0264
通讯作者	Zhang, Shuang(zhangshuang.ac@gmail.com)
英文摘要	Purpose This paper aims to propose cooperative control strategies for dual-arm robots in different human-robot collaborative tasks in assembly processes. The authors set three different regions where robot performs different collaborative ways: "teleoperate" region, "co-carry" region and "assembly" region. Human holds the "master" arm of dual-arm robot to operate the other "follower" arm by our proposed controller in "teleoperation" region. Limited by the human arm length, "follower" arm is teleoperated by human to carry the distant object. In the "co-carry" region, "master" arm and "follower" arm cooperatively carry the object to the region close to the human. In "assembly" region, "follower" arm is used for fixing the object and "master" arm coupled with human is used for assembly. Design/methodology/approach A human moving target estimated method is proposed for decreasing efforts for human to move "master" arm, radial basis functions neural networks are used to compensate for uncertainties in dynamics of both arms. Force feedback is designed in "master" arm controller for human to perceive the movement of "follower" arm. Experimental results on Baxter robot platform show the effectiveness of this proposed method. Findings Experimental results on Baxter robot platform show the effectiveness of our proposed methods. Different human-robot collaborative tasks in assembly processes are performed successfully under our cooperative control strategies for dual-arm robots. Originality/value In this paper, cooperative control strategies for dual-arm robots have been proposed in different human-robot collaborative tasks in assembly processes. Three different regions where robot performs different collaborative ways are set: "teleoperation" region, "co-carry" region and "assembly" region.
资助项目	National Natural Science Foundation of China[61873297] ; China Postdoctoral Science Foundation[2018M630074] ; Fundamental Research Funds for the Central Universities[FRF-GF-18-027B] ; Beijing Science and Technology Project[Z181100003118006]
WOS关键词	NEURAL-NETWORK CONTROL ; TRACKING CONTROL ; NONLINEAR-SYSTEMS ; CONTROL DESIGN ; EXOSKELETON ; STATE
WOS研究方向	Automation & Control Systems ; Engineering
语种	英语
出版者	EMERALD GROUP PUBLISHING LTD
WOS记录号	WOS:000514005100001
资助机构	National Natural Science Foundation of China ; China Postdoctoral Science Foundation ; Fundamental Research Funds for the Central Universities ; Beijing Science and Technology Project
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/38474]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	Zhang, Shuang
作者单位	1.Univ Sci & Technol Beijing, Inst Artificial Intelligence, Sch Automat & Elect Engn, Beijing, Peoples R China 2.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China
推荐引用方式 GB/T 7714	Yu, Xinbo,Zhang, Shuang,Sun, Liang,et al. Cooperative control of dual-arm robots in different human-robot collaborative tasks[J]. ASSEMBLY AUTOMATION,2019,40(1):95-104.
APA	Yu, Xinbo,Zhang, Shuang,Sun, Liang,Wang, Yu,Xue, Chengqian,&Li, Bin.(2019).Cooperative control of dual-arm robots in different human-robot collaborative tasks.ASSEMBLY AUTOMATION,40(1),95-104.
MLA	Yu, Xinbo,et al."Cooperative control of dual-arm robots in different human-robot collaborative tasks".ASSEMBLY AUTOMATION 40.1(2019):95-104.