An Alignment Method of Human-Robot Collaboration Based on the Six-Dimensional Force/Torque Dynamic Measurement for Large-Scale Components
A Stewart parallel robot (SPR) is a promising choice for alignment or assembly of components that are large or heavy. This paper presents a method for human-robot collaboration, for positioning and orientation of large components. Use of interactive force measurements is important for human-robot co...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2018-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2018/2914871 |
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| _version_ | 1832549067696111616 |
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| author | Ke Wen Fuzhou Du Jiabo Zhang JiZhi Yang |
| author_facet | Ke Wen Fuzhou Du Jiabo Zhang JiZhi Yang |
| author_sort | Ke Wen |
| collection | DOAJ |
| description | A Stewart parallel robot (SPR) is a promising choice for alignment or assembly of components that are large or heavy. This paper presents a method for human-robot collaboration, for positioning and orientation of large components. Use of interactive force measurements is important for human-robot collaboration. It is based on six-dimensional force/torque (F/T) measurements. First, the six-dimensional F/T data are calculated based on the six-actuator SPR geometry and screw theory. Second, the effects of gravity forces (dynamic gravity compensation) are considered, and a method to offset their effects is explained. Third, force estimation experiments were performed using an S-type force sensor and known applied test forces. Finally, the F/T-driven feedback was tested for the alignment of a large-scale component. The experimental results show that the calculated six-dimensional F/T can accurately track the force applied to a large and/or heavy component by a human worker. It can also accurately predict the F/T required to compensate for inertial forces and components’ weight. Thus, the alignment method of human-robot collaboration based on the six-dimensional force/torque dynamic measurements for large-scale components is correct and effective. |
| format | Article |
| id | doaj-art-f5511a06c5cb4846844d3c6c12a91d60 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-f5511a06c5cb4846844d3c6c12a91d602025-02-03T06:12:22ZengWileyJournal of Robotics1687-96001687-96192018-01-01201810.1155/2018/29148712914871An Alignment Method of Human-Robot Collaboration Based on the Six-Dimensional Force/Torque Dynamic Measurement for Large-Scale ComponentsKe Wen0Fuzhou Du1Jiabo Zhang2JiZhi Yang3Beijing Spacecrafts, China Academy of Space Technology, Beijing 100194, ChinaSchool of Mechanical Engineering and Automation, Beihang University, Beijing 100191, ChinaBeijing Spacecrafts, China Academy of Space Technology, Beijing 100194, ChinaBeijing Spacecrafts, China Academy of Space Technology, Beijing 100194, ChinaA Stewart parallel robot (SPR) is a promising choice for alignment or assembly of components that are large or heavy. This paper presents a method for human-robot collaboration, for positioning and orientation of large components. Use of interactive force measurements is important for human-robot collaboration. It is based on six-dimensional force/torque (F/T) measurements. First, the six-dimensional F/T data are calculated based on the six-actuator SPR geometry and screw theory. Second, the effects of gravity forces (dynamic gravity compensation) are considered, and a method to offset their effects is explained. Third, force estimation experiments were performed using an S-type force sensor and known applied test forces. Finally, the F/T-driven feedback was tested for the alignment of a large-scale component. The experimental results show that the calculated six-dimensional F/T can accurately track the force applied to a large and/or heavy component by a human worker. It can also accurately predict the F/T required to compensate for inertial forces and components’ weight. Thus, the alignment method of human-robot collaboration based on the six-dimensional force/torque dynamic measurements for large-scale components is correct and effective.http://dx.doi.org/10.1155/2018/2914871 |
| spellingShingle | Ke Wen Fuzhou Du Jiabo Zhang JiZhi Yang An Alignment Method of Human-Robot Collaboration Based on the Six-Dimensional Force/Torque Dynamic Measurement for Large-Scale Components Journal of Robotics |
| title | An Alignment Method of Human-Robot Collaboration Based on the Six-Dimensional Force/Torque Dynamic Measurement for Large-Scale Components |
| title_full | An Alignment Method of Human-Robot Collaboration Based on the Six-Dimensional Force/Torque Dynamic Measurement for Large-Scale Components |
| title_fullStr | An Alignment Method of Human-Robot Collaboration Based on the Six-Dimensional Force/Torque Dynamic Measurement for Large-Scale Components |
| title_full_unstemmed | An Alignment Method of Human-Robot Collaboration Based on the Six-Dimensional Force/Torque Dynamic Measurement for Large-Scale Components |
| title_short | An Alignment Method of Human-Robot Collaboration Based on the Six-Dimensional Force/Torque Dynamic Measurement for Large-Scale Components |
| title_sort | alignment method of human robot collaboration based on the six dimensional force torque dynamic measurement for large scale components |
| url | http://dx.doi.org/10.1155/2018/2914871 |
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