Reliability Architecture for Collaborative Robot Control Systems in Complex Environments

Tang, Liang; Jiang, Yunliang; Lou, Jungang

doi:10.5772/62201

Cited by 5 publications

(3 citation statements)

References 16 publications

(25 reference statements)

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“…For critical systems, e.g., in military and industry, the architectures of the development frameworks are based primarily on specialized and custom-built components [20]. However, there is a tendency towards more versatile, flexible, and low-cost general-purpose hardware/software components [21,22].…”

Section: Related Workmentioning

confidence: 99%

COTS-Based Architectural Framework for Reliable Real-Time Control Applications in Manufacturing

et al. 2020

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The challenge of keeping the development and implementation of real-time control systems reliable and efficient and at the same time, low-cost and low-energy, is getting harder. This is because system designers and developers are faced with the dependability, inflexibility and often high-cost of specialized or custom-built hardware and software components. This research attempts to tackle issues such as the reliability and efficiency of real-time control systems and advance further the current state-of-the-art. For this purpose, a strong emphasis is placed on finding novel efficient solutions based on standardized and commercially available off-the-shelf hardware/software components. In this direction, this research applies credible and feasible methodologies (e.g., model-based design, component-based design, formal verification, real-time scheduling, prototyping, and validation) in an innovative enhanced way. As an important outcome, a versatile integrative design approach and architectural framework (VIDAF) is proposed, which supports the development and implementation of reliable real-time control systems and applications using commercial off-the-shelf (COTS) components. The feasibility and applicability of the proposed system’s architecture are evaluated and validated through a system application in embedded real-time control in manufacturing. The research outcomes are expected to have a positive impact on emerging areas such as the Industrial Internet of Things (IIoT).

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Section: Related Workmentioning

confidence: 99%

COTS-Based Architectural Framework for Reliable Real-Time Control Applications in Manufacturing

et al. 2020

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“…The job of a robotic system can be, e.g., to grasp the object or hand it over. The examples of non-real time control architectures were presented in [30,31].…”

Section: Non-real-time Layermentioning

confidence: 99%

Control System Design and Methods for Collaborative Robots: Review

et al. 2023

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Collaborative robots cooperate with humans to assist them in undertaking simple-to-complex tasks in several fields, including industry, education, agriculture, healthcare services, security, and space exploration. These robots play a vital role in the revolution of Industry 4.0, which defines new standards of manufacturing and the organization of products in the industry. Incorporating collaborative robots in the workspace improves efficiency, but it also introduces several safety risks. Effective safety measures then become indispensable to ensure safe and robust interaction. This paper presents the review of low-level control methodologies of a collaborative robot to assess the current status of human–robot collaboration over the last decade. First, we discuss the classification of human–robot collaboration, architectures of systems and the complex requirements on control strategies. The most commonly used control approaches were presented and discussed. Several methods of control, reported in industrial applications, are elaborated upon with a prime focus on HR-collaborative assembly operations. Since the physical HRC is a critical control problem for the co-manipulation task, this article identifies key control challenges such as the prediction of human intentions, safety, and human-caused disturbances in motion synchronization; the proposed solutions were analyzed afterwards. The discussion at the end of the paper summarizes the features of the control systems that should be incorporated within the systematic framework to allow the execution of a robotic task from global task planning to low-level control implementation for safe and robust interactions.

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“…Manipulators have been widely used because of their outstanding characters of high efficiency, accuracy, and easy to operation, in which the manipulator is required to work repetitively by hundreds of times. 1,2 However, the error in the process of manufacturing and assembling is unavoidable and can bring about joint clearance and dimensional deviations in linkages, which may finally cause the negative influence (such as the erratic shocks, vibration, and deterioration of motion capability 3,4 ) on the safety and stability during its service life. Evaluating the performance of the manipulator appropriately is the foundation of successful manipulation.…”

Section: Introductionmentioning

confidence: 99%

The motion reliability analysis of a series system with multiple coordinated manipulators

Wang,

Xu,

et al. 2023

International Journal of Advanced Robotic Systems

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Coordinated manipulators can construct a series system, such that all the position error of the end-effector is required to remain within the permissible limit. This article proposed a new method to handle the problem of reliability analysis involving in multiple failure modes. The extreme value of the position error is introduced to construct a surrogate model to replace the original failure event, the moment with fraction order instead of the traditional integer is applied to derive the best-fit distribution of the extreme value based on the maximum entropy principle. The innovations mainly include: (1) the high efficient dimension reduction via the surrogate model constructed with the extreme value and (2) a better probability density function is derived through the fractional moment. A series system consists of three manipulators is used as an example to demonstrate the efficiency and accuracy of the proposed method.

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Reliability Architecture for Collaborative Robot Control Systems in Complex Environments

Cited by 5 publications

References 16 publications

COTS-Based Architectural Framework for Reliable Real-Time Control Applications in Manufacturing

COTS-Based Architectural Framework for Reliable Real-Time Control Applications in Manufacturing

Control System Design and Methods for Collaborative Robots: Review

The motion reliability analysis of a series system with multiple coordinated manipulators

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