A Review of End-Effector Research Based on Compliance Control

Dai, Ye; Xiang, Chao-Fang; Qu, Wen-Yin; Zhang, Qihao

doi:10.3390/machines10020100

Cited by 15 publications

(4 citation statements)

References 53 publications

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“…It should be clarified that it is not enough to consider only the end effector's load capacity, but also the robotic system's load capacity on which the end effector is mounted on. In addition, depending on how the product is detached (e.g., suction, rotation, or cut), this maximum load should be increased so that the additional forces required for the fruit's detachment could be applied for the final detachment of the harvested product from a branch on which it is usually connected [44].…”

Section: Operating Requirements For Agricultural End Effectorsmentioning

confidence: 99%

An Overview of End Effectors in Agricultural Robotic Harvesting Systems

et al. 2022

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In recent years, the agricultural sector has turned to robotic automation to deal with the growing demand for food. Harvesting fruits and vegetables is the most labor-intensive and time-consuming among the main agricultural tasks. However, seasonal labor shortage of experienced workers results in low efficiency of harvesting, food losses, and quality deterioration. Therefore, research efforts focus on the automation of manual harvesting operations. Robotic manipulation of delicate products in unstructured environments is challenging. The development of suitable end effectors that meet manipulation requirements is necessary. To that end, this work reviews the state-of-the-art robotic end effectors for harvesting applications. Detachment methods, types of end effectors, and additional sensors are discussed. Performance measures are included to evaluate technologies and determine optimal end effectors for specific crops. Challenges and potential future trends of end effectors in agricultural robotic systems are reported. Research has shown that contact-grasping grippers for fruit holding are the most common type of end effectors. Furthermore, most research is concerned with tomato, apple, and sweet pepper harvesting applications. This work can be used as a guide for up-to-date technology for the selection of suitable end effectors for harvesting robots.

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Section: Operating Requirements For Agricultural End Effectorsmentioning

confidence: 99%

An Overview of End Effectors in Agricultural Robotic Harvesting Systems

et al. 2022

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“…Kuang and Zheng [17] proposed an underwater robot control method based on the inversion method and discussed the adaptive inversion manipulator control technology for the nonlinear model of uncertainty and external disturbance. Dai et al [18] proposed a random matrix network inversion control method, which uses a random matrix network to approximate the system uncertainty and introduces a random matrix surface in the process of virtual control quantity design to improve the control performance. At the same time, in actual production, it is very common for robotic arms to perform the same or similar tasks repeatedly.…”

Section: Related Workmentioning

confidence: 99%

Trajectory Control Algorithm of Flexible Joint Manipulator Based on Random Matrix and Screw Theory

Guo

Da-shuai

2022

Mathematical Problems in Engineering

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Flexible articulated manipulators are often used for the task of tracking reference trajectories in space and have attracted much attention. Aiming at the uncertainty of the robot system, based on random matrix and screw theory, this paper constructs a trajectory control model of a flexible joint manipulator. In order to reduce the steady-state tracking error, a random matrix variable structure control method is introduced into the model, and a nonlinear spinor-like random matrix function is designed to improve the traditional random matrix surface. In the simulation process, the dynamic model of the series robot is firstly obtained according to the screw and random matrix equation, and the dynamic characteristics are analyzed. Combined with dynamic surface control technology, a neural network controller is designed to solve the problem of dimensional explosion and ensure that the tracking error converges to a small neighborhood of zero. The experimental results show that by using the observation value to replace the unmeasurable state of the system, combining it with the random matrix network to identify the unknown dynamics of the system, and designing the random matrix network controller, the tracking control of the system can be realized, and the tracking error can be ensured to converge to a small neighborhood of zero. The control system has a better control effect than traditional PID, the peak time is shortened by 45.83%, the adjustment time is shortened by 46.91%, the maximum overshoot is reduced by 51.35%, and the steady-state error after filtering is only 0.049, which is reduced by 47.31%. Effective interference signal and measurement noise are suppressed, and the quantitative observation performance of the flexible joint manipulator system is improved.

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“…Although the active control method can be used to improve machining accuracy [12][13][14], it undoubtedly increases the complexity of the robotic system in the machining field. Hence, exhausting the robot's potential to achieve the optimal stiffness design has become a hot issue in recent robotics research.…”

Section: Introductionmentioning

confidence: 99%

Stiffness-Oriented Placement Optimization of Machining Robots for Large Component Flexible Manufacturing System

et al. 2022

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A large component flexible manufacturing system provides more application scenarios for industrial robots, and, in turn, these robots exhibit competitive advantages in machining applications. However, the structural characteristic of low stiffness is the main obstacle for the industrial robot. Aiming at obtaining sufficient stiffness in the whole machining process, this paper focuses on robot placement optimization in the flexible manufacturing of large components. The geometric center of the machined feature is selected as, firstly, the base point, and the center-reachable placement space of the robot base is obtained by establishing the kinematic model considering a variety of motion constraints. Then, according to the reachability of the machining feature contour, the global placement space meeting all machining boundaries is further extracted. The mapping relationship between joint force and posture is established, and the most suitable robot placement is selected based on the criterion of global stiffness optimization. A series of numerical and finite element simulations verify the correctness and effectiveness of the proposed optimization strategy. The developed stiffness-oriented placement planning algorithm can provide beneficial references for robotic machining applications.

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A Review of End-Effector Research Based on Compliance Control

Cited by 15 publications

References 53 publications

An Overview of End Effectors in Agricultural Robotic Harvesting Systems

An Overview of End Effectors in Agricultural Robotic Harvesting Systems

Trajectory Control Algorithm of Flexible Joint Manipulator Based on Random Matrix and Screw Theory

Stiffness-Oriented Placement Optimization of Machining Robots for Large Component Flexible Manufacturing System

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