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面向工业环境中大部件操作的路径驱动双臂移动协同操作架构。

Path Driven Dual Arm Mobile Co-Manipulation Architecture for Large Part Manipulation in Industrial Environments.

机构信息

Industry and Transport Division, TECNALIA, Basque Research and Technology Alliance (BRTA), 20009 San Sebastián, Spain.

出版信息

Sensors (Basel). 2021 Oct 5;21(19):6620. doi: 10.3390/s21196620.

DOI:10.3390/s21196620
PMID:34640940
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC8512089/
Abstract

Collaborative part transportation is an interesting application as many industrial sectors require moving large parts among different areas of the workshops, using a large amount of the workforce on this tasks. Even so, the implementation of such kinds of robotic solutions raises technical challenges like force-based control or robot-to-human feedback. This paper presents a path-driven mobile co-manipulation architecture, proposing an algorithm that deals with all the steps of collaborative part transportation. Starting from the generation of force-based twist commands, continuing with the path management for the definition of safe and collaborative areas, and finishing with the feedback provided to the system users, the proposed approach allows creating collaborative lanes for the conveyance of large components. The implemented solution and performed tests show the suitability of the proposed architecture, allowing the creation of a functional robotic system able to assist operators transporting large parts on workshops.

摘要

协作部件运输是一项很有趣的应用，因为许多工业部门需要在车间的不同区域之间移动大型部件，为此需要大量的劳动力。即便如此，此类机器人解决方案的实施也带来了一些技术挑战，例如基于力的控制或机器人与人类的反馈。本文提出了一种基于路径的移动协同操作架构，提出了一种算法，用于处理协作部件运输的所有步骤。该算法从基于力的扭曲命令的生成开始，继续进行路径管理以定义安全和协作区域，最后为系统用户提供反馈，提出的方法允许为大型部件的输送创建协作通道。所实现的解决方案和进行的测试表明了所提出架构的适用性，允许创建一个功能齐全的机器人系统，能够帮助操作人员在车间中运输大型部件。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a775/8512089/80f0932fe865/sensors-21-06620-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a775/8512089/0bcd37fcfe37/sensors-21-06620-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a775/8512089/9aa1957d1b87/sensors-21-06620-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a775/8512089/e747b503b22f/sensors-21-06620-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a775/8512089/cc24720bbc3a/sensors-21-06620-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a775/8512089/5c4e6961155c/sensors-21-06620-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a775/8512089/dfea6ba6eafd/sensors-21-06620-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a775/8512089/52ecc83c20e7/sensors-21-06620-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a775/8512089/80f0932fe865/sensors-21-06620-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a775/8512089/0bcd37fcfe37/sensors-21-06620-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a775/8512089/9aa1957d1b87/sensors-21-06620-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a775/8512089/e747b503b22f/sensors-21-06620-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a775/8512089/cc24720bbc3a/sensors-21-06620-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a775/8512089/5c4e6961155c/sensors-21-06620-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a775/8512089/dfea6ba6eafd/sensors-21-06620-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a775/8512089/52ecc83c20e7/sensors-21-06620-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a775/8512089/80f0932fe865/sensors-21-06620-g008.jpg

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