Power and force limiting on industrial robots for human-robot collaboration

Aivaliotis, P.; Aivaliotis, Sotiris; Gkournelos, Christos; Kokkalis, Konstantinos; Michalos, George; Makris, Sotiris

doi:10.1016/j.rcim.2019.05.001

Cited by 68 publications

(24 citation statements)

References 31 publications

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“…Such companies include the German company Kuka AG, the Japanese Yaskawa Electric Corporation, and the Swedish-Swiss multinational corporation ABB Ltd. The government's constant focus on developing the robotics industry encourages Chinese companies to establish close relationships with foreign organizations that possess the most advanced technologies [14].…”

Section: Resultsmentioning

confidence: 99%

The evolution of robotics in China: accumulated experience and prospects

2021

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In the context of globalization and the fourth industrial revolution (Industry 4.0), the development of robotics and AI has become one of the most important factors of economic and technological growth. A leadership race has already unfolded between the developed countries. Today, China is the undisputed leader in this industry and the largest consumer of industrial robots, but this was not always the case. To achieve leadership in this sphere, the Chinese government supports robotics startups in automotive, electronics, and logistics. The support is provided in the form of tax incentives and subsidies for R&D. The purpose of the research was to forecast the industrial robots' market in China and answer whether it will keep its position in the future. The carried study showed that the market of industrial robots in China is increasing, significantly outpacing the dynamics of global indicators. The decline in the growth of the Chinese robotics market indicators can be explained by the consequences of the COVID-19 pandemic and trade tensions between the market leaders: China and the United States.

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Section: Resultsmentioning

confidence: 99%

The evolution of robotics in China: accumulated experience and prospects

2021

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“…Collision Avoidance [12] Collision prediction using time-invariant models and neural networks on signal processing.…”

Section: A Brief Overview Of Hrp In Industrymentioning

confidence: 99%

“…Some solutions have been recently proposed to also make the traditional manipulators able to establish some kind of collaboration with humans, according to ISO/TS 15066:2016 [ 10 , 11 ]. The method proposed in [ 12 ] limits the force for a traditional industrial manipulator, and detects collisions without the use of external sensors. It adopts time-invariant dynamic models and supervised feed-forward input-delay neural networks on signal processing to estimate the required current signals for a given robot motion.…”

Section: Robotic Systems and Human-robot Perceptionmentioning

confidence: 99%

Human-Robot Perception in Industrial Environments: A Survey

Bonci

Cheng

Indri

et al. 2021

Sensors

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Perception capability assumes significant importance for human–robot interaction. The forthcoming industrial environments will require a high level of automation to be flexible and adaptive enough to comply with the increasingly faster and low-cost market demands. Autonomous and collaborative robots able to adapt to varying and dynamic conditions of the environment, including the presence of human beings, will have an ever-greater role in this context. However, if the robot is not aware of the human position and intention, a shared workspace between robots and humans may decrease productivity and lead to human safety issues. This paper presents a survey on sensory equipment useful for human detection and action recognition in industrial environments. An overview of different sensors and perception techniques is presented. Various types of robotic systems commonly used in industry, such as fixed-base manipulators, collaborative robots, mobile robots and mobile manipulators, are considered, analyzing the most useful sensors and methods to perceive and react to the presence of human operators in industrial cooperative and collaborative applications. The paper also introduces two proofs of concept, developed by the authors for future collaborative robotic applications that benefit from enhanced capabilities of human perception and interaction. The first one concerns fixed-base collaborative robots, and proposes a solution for human safety in tasks requiring human collision avoidance or moving obstacles detection. The second one proposes a collaborative behavior implementable upon autonomous mobile robots, pursuing assigned tasks within an industrial space shared with human operators.

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“…The compensation parameters in Eqs. (15)(16) can be determined experimentally using the setup in Fig. 12.…”

Section: A Impedance Controllermentioning

confidence: 99%

“…For direct-current (DC) motors, the magnitude of the motor current is proportional to the motor output torque. Existing robots detect abnormal motor currents to prevent physical collision [16] or to ensure effective maintenance of factory robots [17]. Sensorless torque control has also been implemented in brushed [18] or brushless [19][20][21][22] DC motors to realize robots that require high torque control bandwidth when interacting with the environment.…”

Section: Introductionmentioning

confidence: 99%

Torque-Sensorless Control of Stepper Motors for Low-Cost Compliant Motion Generation

et al. 2021

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Actuators that can generate controllable compliant output motion are suitable for robots that need to interact safely with humans or the environment. To obtain the accurate output torque required to control the compliant motion, existing robotic actuators use one or more sensors to measure the deformation of a stiff or compliant element between the actuator and the output. The complexity, reliability, and cost of sensors are the current challenges. Deformation-based sensing also suffers from limited bandwidth and stability range. This paper proposes a torque-sensorless control method of stepper motors to generate compliant motion. Stepper motors are used because of their low cost and reliability. They also have a much higher torque-to-weight ratio and torque-to-rotor-inertia ratio than other DC motors. Torque and impedance controllers based on stepper motor current feedback are developed. Torque-sensorless impedance, and gripping force control experiments are provided to show the advantages of the proposed method. It is expected that the new control method for stepper motors can offer a competitive alternative when cost, stability, or bandwidth of complaint actuators are the major concerns.

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Power and force limiting on industrial robots for human-robot collaboration

Cited by 68 publications

References 31 publications

The evolution of robotics in China: accumulated experience and prospects

The evolution of robotics in China: accumulated experience and prospects

Human-Robot Perception in Industrial Environments: A Survey

Torque-Sensorless Control of Stepper Motors for Low-Cost Compliant Motion Generation

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