Compliance Control and Human–Robot Interaction: Part II — Experimental Examples

Khan, Said Ghani; Herrmann, Guido; Lenz, Alexander; Grafi, Mubarak Al; Pipe, Anthony G.; Melhuish, Chris

doi:10.1142/s0219843614300025

Cited by 10 publications

(5 citation statements)

References 24 publications

(34 reference statements)

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“…A unique opportunity lies in the effective development of such ideas in food handling and serving categories [89]. The new technology areas included in robotics research is development of new Human Machine Interfaces (HMI) to facilitate user's interaction with the robots [90]. HMI needs to be user friendly, fast and reliable to handle big data while ensuring robust and fault tolerant characteristics.…”

Section: Cyber Physical System (Cps) In Food Industrymentioning

confidence: 99%

Towards realizing robotic potential in future intelligent food manufacturing systems

Khan

Khalid

Iqbal

2018

Innovative Food Science & Emerging Technologies

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This paper provides a comprehensive review of the robotic potential that is forseen by researchers in designing future food manufacturing plant. The present day food handling and packaging setup is limited in capacity and output due to manual processing. An optimized protocol to fetch various ingrediants and shape them in a final product by passing through various stages in an automated processing plant while simultaneously ensuring high quality and hygienic environment is merely possible by using robotized processing. The review also highlights the possibilities and limitations of introducing these high technology robots in the food sector. A comparison of several robots from different classes is listed with major technical parameters. However, as predicted, a food cyber-physical production system (CPPS) visualizes a closed loop system for the desired output keeping in view various constraints and risks. Human machine interface (HMI) for these machines complies with the industrial safety standards to provide a fail safe production cycle. Various new horizons in research and development of food robots are also highlighted in the upcomping industrial paradigm.

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Section: Cyber Physical System (Cps) In Food Industrymentioning

confidence: 99%

Towards realizing robotic potential in future intelligent food manufacturing systems

Khan

Khalid

Iqbal

2018

Innovative Food Science & Emerging Technologies

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“…This compliance scheme is similar in nature to the model reference adaptive compliance presented in (Khan et al, 2010b(Khan et al, , 2014b, Khan and Herrmann (2014) and Colbaugh et al (1996) However, here this scheme is much simpler and solely based on ISMC. The reference model is inside the sliding mode variable r. While in Khan et al (2010bKhan et al ( , 2014b, Khan and Herrmann (2014) and Colbaugh et al (1996) the reference model is "external" where, tracking demand is modified (using force feedback) to compensate the external forces. The sliding mode element r given by Eq.…”

Section: Model Reference Compliance Control Using Ismcmentioning

confidence: 95%

“…It is worth pointing out that decoupling external torques from robot body-own torques may be challenging. However, we have addressed this issue to some extent in our previous work (Khan et al, 2014b(Khan et al, , 2010a. It is to be noted that the geometric split- ting (i.e.…”

Section: Model Reference Compliance Control Simulation Using Ismcmentioning

confidence: 99%

Realisation of model reference compliance control of a humanoid robot arm via integral sliding mode control

Khan

Jalani

2016

Mech. Sci.

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Abstract. Human safety becomes critical when robot enters the human environment. Compliant control can be used to address some safety issues in human-robot physical interaction. This paper proposes an integral sliding mode controller (ISMC) based compliance control scheme for the Bristol Robotics Laboratory's humanoid BERT II robot arm. Apart from introducing a model reference compliance controller, the ISMC scheme is aimed to deal with the robot arm dynamic model's inaccuracies and un-modelled nonlinearities. The control scheme consists of a feedback linearization (FL) and an ISMC part. In addition, a posture controller has been incorporated to employ the redundant DOF and generate human like motion. The desired level of compliance can be tuned by selecting the stiffness and damping parameters in the sliding mode variable (compliance reference model). The results show that the compliant control is feasible at different levels for BERT II in simulation and experiment. The positioning control has been satisfactorily achieved and nonlinearities and un-modelled dynamics have been successfully overcome.

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“…For example, if the robot in question exerts an excessive force or collision (impact) in a cooperative task with a human being, the result may be catastrophic and the robot may pose a significant risk to the interacting agent whether it is a human or another robot. Force control and its variants such as compliance or impedance control can help to address some of the safety issues by limiting the interaction forces [2][3][4][5][6]. Another safety issue is the development of faults during operation, which cannot be ruled out in robots and other actuated machinery.…”

Section: Introductionmentioning

confidence: 99%

Chaos Stabilization and Tracking Recovery of a Faulty Humanoid Robot Arm in a Cooperative Scenario

2019

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Synchronised motion is an important requirement for two cooperating humanoid robot arms. In this work a cooperative scenario is considered where two humanoid robot arms (using 4DOF each, namely Shoulder Flexion Joint, Shoulder abduction Joint, Humeral rotation joint and Elbow Flexion Joint) motion are synchronized. The master robot arm is controlled by a sliding mode controller and the slave robot arm is synchronized using a basic PD plus adaptive control, employing the position and velocity errors between the master and the slave. During the operation, if a joint of the slave robot arm saturates or malfunctions (for instance, Elbow flexion joint does not respond or free swinging), consequently, slave robot arm will go into chaos (i.e., chaotic motion of the end effector). In this case, a chaos controller kicks in to recover and re-synchronize the motion of the slave robot arm end effector. This re-synchronization is extremely important to complete the task in hand to address any safety issues arising from any joint malfunction of the slave robot. Effectiveness of the scheme is tested in simulation using Bristol Robotics Laboratory Humanoid BERT II arms.

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Compliance Control and Human–Robot Interaction: Part II — Experimental Examples

Cited by 10 publications

References 24 publications

Towards realizing robotic potential in future intelligent food manufacturing systems

Towards realizing robotic potential in future intelligent food manufacturing systems

Realisation of model reference compliance control of a humanoid robot arm via integral sliding mode control

Chaos Stabilization and Tracking Recovery of a Faulty Humanoid Robot Arm in a Cooperative Scenario

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