Complementary projector for null-space stiffness control of redundant assembly robot arm
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2019
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Purpose Stiffness control of redundant robot arm, aimed at using extra degrees of freedom (DoF) to shape the robot tool center point (TCP) elastomechanical behavior to be consistent with the essential requirements needed for a successful part mating process, i.e., to mimic part supporting mechanism with selective quasi-isotropic compliance (Remote Center of Compliance - RCC), with additional properties of inherent flexibility. Design/methodology/approach Theoretical analysis and synthesis of the complementary projector for null-space stiffness control of kinematically redundant robot arm. Practical feasibility of the proposed approach was proven by extensive computer simulations and physical experiments, based on commercially available 7 DoF SIA 10 F Yaskawa articulated robot arm, equipped with the open-architecture control system, system for generating excitation force, dedicated sensory system for displacement measurement and a system for real-time acquisition of sensory data. Findin...gs Simulation experiments demonstrated convergence and stability of the proposed complementary projector. Physical experiments demonstrated that the proposed complementary projector can be implemented on the commercially available anthropomorphic redundant arm upgraded with open-architecture control system and that this projector has the capacity to efficiently affect the task-space TCP stiffness of the robot arm, with a satisfactory degree of consistency with the behavior obtained in the simulation experiments. Originality/value A novel complementary projector was synthesized based on the adopted objective function. Practical verification was conducted using computer simulations and physical experiments. For the needs of physical experiments, an adequate open-architecture control system was developed and upgraded through the implementation of the proposed complementary projector and an adequate system for generating excitation and measuring displacement of the robot TCP. Experiments demonstrated that the proposed complementary projector for null-space stiffness control is capable of producing the task-space TCP stiffness, which can satisfy the essential requirements needed for a successful part-mating process, thus allowing the redundant robot arm to mimic the RCC supporting mechanism behavior in a programmable manner.
Ključne reči:
Robotic assembly / Redundant robot arm / Null-space stiffness / Complementary projectorIzvor:
Assembly Automation, 2019, 39, 4, 696-714Izdavač:
- Emerald Group Publishing Ltd, Bingley
Finansiranje / projekti:
- Inteligentni robotski sistemi za ekstremno diverzifikovanu proizvodnju (RS-MESTD-Technological Development (TD or TR)-35007)
DOI: 10.1108/AA-10-2018-0163
ISSN: 0144-5154
WoS: 000488835500017
Scopus: 2-s2.0-85069039600
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Institucija/grupa
Mašinski fakultetTY - JOUR AU - Lukić, Nikola AU - Petrović, Petar PY - 2019 UR - https://machinery.mas.bg.ac.rs/handle/123456789/3007 AB - Purpose Stiffness control of redundant robot arm, aimed at using extra degrees of freedom (DoF) to shape the robot tool center point (TCP) elastomechanical behavior to be consistent with the essential requirements needed for a successful part mating process, i.e., to mimic part supporting mechanism with selective quasi-isotropic compliance (Remote Center of Compliance - RCC), with additional properties of inherent flexibility. Design/methodology/approach Theoretical analysis and synthesis of the complementary projector for null-space stiffness control of kinematically redundant robot arm. Practical feasibility of the proposed approach was proven by extensive computer simulations and physical experiments, based on commercially available 7 DoF SIA 10 F Yaskawa articulated robot arm, equipped with the open-architecture control system, system for generating excitation force, dedicated sensory system for displacement measurement and a system for real-time acquisition of sensory data. Findings Simulation experiments demonstrated convergence and stability of the proposed complementary projector. Physical experiments demonstrated that the proposed complementary projector can be implemented on the commercially available anthropomorphic redundant arm upgraded with open-architecture control system and that this projector has the capacity to efficiently affect the task-space TCP stiffness of the robot arm, with a satisfactory degree of consistency with the behavior obtained in the simulation experiments. Originality/value A novel complementary projector was synthesized based on the adopted objective function. Practical verification was conducted using computer simulations and physical experiments. For the needs of physical experiments, an adequate open-architecture control system was developed and upgraded through the implementation of the proposed complementary projector and an adequate system for generating excitation and measuring displacement of the robot TCP. Experiments demonstrated that the proposed complementary projector for null-space stiffness control is capable of producing the task-space TCP stiffness, which can satisfy the essential requirements needed for a successful part-mating process, thus allowing the redundant robot arm to mimic the RCC supporting mechanism behavior in a programmable manner. PB - Emerald Group Publishing Ltd, Bingley T2 - Assembly Automation T1 - Complementary projector for null-space stiffness control of redundant assembly robot arm EP - 714 IS - 4 SP - 696 VL - 39 DO - 10.1108/AA-10-2018-0163 ER -
@article{ author = "Lukić, Nikola and Petrović, Petar", year = "2019", abstract = "Purpose Stiffness control of redundant robot arm, aimed at using extra degrees of freedom (DoF) to shape the robot tool center point (TCP) elastomechanical behavior to be consistent with the essential requirements needed for a successful part mating process, i.e., to mimic part supporting mechanism with selective quasi-isotropic compliance (Remote Center of Compliance - RCC), with additional properties of inherent flexibility. Design/methodology/approach Theoretical analysis and synthesis of the complementary projector for null-space stiffness control of kinematically redundant robot arm. Practical feasibility of the proposed approach was proven by extensive computer simulations and physical experiments, based on commercially available 7 DoF SIA 10 F Yaskawa articulated robot arm, equipped with the open-architecture control system, system for generating excitation force, dedicated sensory system for displacement measurement and a system for real-time acquisition of sensory data. Findings Simulation experiments demonstrated convergence and stability of the proposed complementary projector. Physical experiments demonstrated that the proposed complementary projector can be implemented on the commercially available anthropomorphic redundant arm upgraded with open-architecture control system and that this projector has the capacity to efficiently affect the task-space TCP stiffness of the robot arm, with a satisfactory degree of consistency with the behavior obtained in the simulation experiments. Originality/value A novel complementary projector was synthesized based on the adopted objective function. Practical verification was conducted using computer simulations and physical experiments. For the needs of physical experiments, an adequate open-architecture control system was developed and upgraded through the implementation of the proposed complementary projector and an adequate system for generating excitation and measuring displacement of the robot TCP. Experiments demonstrated that the proposed complementary projector for null-space stiffness control is capable of producing the task-space TCP stiffness, which can satisfy the essential requirements needed for a successful part-mating process, thus allowing the redundant robot arm to mimic the RCC supporting mechanism behavior in a programmable manner.", publisher = "Emerald Group Publishing Ltd, Bingley", journal = "Assembly Automation", title = "Complementary projector for null-space stiffness control of redundant assembly robot arm", pages = "714-696", number = "4", volume = "39", doi = "10.1108/AA-10-2018-0163" }
Lukić, N.,& Petrović, P.. (2019). Complementary projector for null-space stiffness control of redundant assembly robot arm. in Assembly Automation Emerald Group Publishing Ltd, Bingley., 39(4), 696-714. https://doi.org/10.1108/AA-10-2018-0163
Lukić N, Petrović P. Complementary projector for null-space stiffness control of redundant assembly robot arm. in Assembly Automation. 2019;39(4):696-714. doi:10.1108/AA-10-2018-0163 .
Lukić, Nikola, Petrović, Petar, "Complementary projector for null-space stiffness control of redundant assembly robot arm" in Assembly Automation, 39, no. 4 (2019):696-714, https://doi.org/10.1108/AA-10-2018-0163 . .