A Solving Method for the Workspace Dexterity of Collaborative Robot
TIAN Yong1,2,3, WANG Hongguang1,2, PAN Xin'an1,2, HU Mingwei1,2,3
1. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China;
3. University of Chinese Academy of Sciences, Beijing 100049, China
田勇, 王洪光, 潘新安, 胡明伟. 一种协作机器人工作空间灵活度的求解方法[J]. 机器人, 2019, 41(3): 298-306.DOI: 10.13973/j.cnki.robot.180429.
TIAN Yong, WANG Hongguang, PAN Xin'an, HU Mingwei. A Solving Method for the Workspace Dexterity of Collaborative Robot. ROBOT, 2019, 41(3): 298-306. DOI: 10.13973/j.cnki.robot.180429.
Abstract:The workspace dexterity of traditional robot is mainly solved by inverse kinematics (IK) method, which can not solve the workspace dexterity of collaborative robot because of the offset effect on the solution of inverse kinematics. So, an improved solving method without using the inverse kinematics is proposed. Firstly, the robot offset is defined and the deficiencies of the IK method are analyzed. Then, the geometric constraint satisfying the service point conditions is obtained with the service sphere, and the error model of dexterity is achieved by using the geometric constraint. Besides, the workspace dexterity index λ and the error parameter E which affect the dexterity solution are proposed. Then, the effects of parameters n, n0 and n1 on E and λ are analyzed in the improved method, and the values of the parameters are determined. Finally, through the comparison between the improved method and the IK method, it can be seen that the solution time of the improved method is shorter than the IK method and the computational efficiency is higher while guaranteeing the solution accuracy. The solving of the workspace dexterity of the collaborative robot with offset proves the strong adaptability of the improved method.
[1] International Organization for Standardization. Robots and robotic devices-Collaborative robots[EB/OL]. (2016-02-04)[2017-03-15]. https://www.iso.org/standard/62996.html.
[2] Stolt A, Linderoth M, Robertsson A, et al. Robotic assembly of emergency stop buttons[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA:IEEE, 2013:2081.
[3] 胡明伟,王洪光,潘新安,等.一种协作机器人运动性能分析与仿真[J].智能系统学报, 2017, 12(1):75-81. Hu M W, Wang H G, Pan X A, et al. Analysis and simulation on kinematics performance of a collaborative robot[J]. CAAI Transactions on Intelligent Systems, 2017, 12(1):75-81.
[4] 侯澈,王争,赵忆文,等.面向直接示教的机器人负载自适应零力控制[J].机器人, 2017, 39(4):439-448. Hou C, Wang Z, Zhao Y W, et al. Load adaptive force-free control for the direct teaching of robots[J]. Robot, 2017, 39(4):439-448.
[5] Bogue R. Advances in robot interfacing technologies[J]. Industrial Robot, 2013, 40(4):299-304.
[6] Wagner M, Heβ P, Reitelshöfer S, et al. Reachability analysis for cooperative processing with industrial robots[C]//International Conference on Emerging Technologies and Factory Automation. Piscataway, USA:IEEE, 2017:6pp.
[7] 王伟,贠超.砂带磨削机器人的灵活性分析与优化[J].机器人, 2010, 32(1):48-54. Wang W, Yun C. Dexterity analysis and optimization of belt grinding robot[J]. Robot, 2010, 32(1):48-54.
[8] Zacharias F, Borst C, Hirzinger G. Capturing robot workspace structure:Representing robot capabilities[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA:IEEE, 2007:3229-3236.
[9] 张立勋,于凌涛,赵继亮,等.基于微创外科手术机器人操作手的夹持灵活度研究[J].机器人, 2009, 31(3):197-203. Zhang L X, Yu L T, Zhao J L, et al. On clamping dexterity of minimally invasive surgical robot manipulator[J]. Robot, 2009, 31(3):197-203.
[10] Kim S, Shukla A, Billard A. Catching objects in flight[J]. IEEE Transactions on Robotics, 2014, 30(5):1049-1065.
[11] Vahrenkamp N, Asfour T, Metta G, et al. Manipulability analysis[C]//IEEE-RAS International Conference on Humanoid Robots. Piscataway, USA:IEEE, 2012:568-573.
[12] Zacharias F, Howard I S, Hulin T, et al. Workspace comparisons of setup configurations for human-robot interaction[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA:IEEE, 2010:3117-3122.
[13] Zacharias F, Schlette C, Schmidt F, et al. Making planned paths look more human-like in humanoid robot manipulation planning[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA:IEEE, 2011:1192-1198.
[14] Dong J, Trinkle J C. Orientation-based reachability map for robot base placement[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA:IEEE, 2015:1488-1493.
[15] Porges O, Stouraitis T, Borst C, et al. Reachability and capability analysis for manipulation tasks[C]//ROBOT2013:First Iberian Robotics Conference. Berlin, Germany:Springer, 2014:703-718.
[16] Shimizu M, Kakuya H, Yoon W K, et al. Analytical inverse kinematic computation for 7-DOF redundant manipulators with joint limits and its application to redundancy resolution[J]. IEEE Transactions on Robotics, 2008, 24(5):1131-1142.
[17] Gogu G. Structural synthesis of fully-isotropic parallel robots with schönflies motions via theory of linear transformations and evolutionary morphology[J]. European Journal of Mechanics-A/Solids, 2007, 26(2):242-269.
[18] Gosselin C, Angeles J. A global performance index for the kinematic optimization of robotic manipulators[J]. Journal of Mechanical Design, 1991, 113(3):220-226.