WO2023063903A1 - Mécanisme de décision anti-glissement basé sur une commande de position/force hybride et algorithme de commande pour une manipulation d'objet avec un mécanisme d'actionneur terminal - Google Patents

Mécanisme de décision anti-glissement basé sur une commande de position/force hybride et algorithme de commande pour une manipulation d'objet avec un mécanisme d'actionneur terminal Download PDF

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Publication number
WO2023063903A1
WO2023063903A1 PCT/TR2021/051698 TR2021051698W WO2023063903A1 WO 2023063903 A1 WO2023063903 A1 WO 2023063903A1 TR 2021051698 W TR2021051698 W TR 2021051698W WO 2023063903 A1 WO2023063903 A1 WO 2023063903A1
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WO
WIPO (PCT)
Prior art keywords
force
fingers
control
signal
brittle
Prior art date
Application number
PCT/TR2021/051698
Other languages
English (en)
Inventor
Şeniz ERTUĞRUL
Ozan KAYA
Çağil GÜNDÜZ
Original Assignee
İzmi̇r Ekonomi̇ Üni̇versi̇tesi̇
İstanbul Tekni̇k Üni̇versi̇tesi̇ Bi̇li̇msel Ararştirma Proje Bi̇ri̇m
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from TR2021/016090 external-priority patent/TR2021016090A2/tr
Application filed by İzmi̇r Ekonomi̇ Üni̇versi̇tesi̇, İstanbul Tekni̇k Üni̇versi̇tesi̇ Bi̇li̇msel Ararştirma Proje Bi̇ri̇m filed Critical İzmi̇r Ekonomi̇ Üni̇versi̇tesi̇
Publication of WO2023063903A1 publication Critical patent/WO2023063903A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/082—Grasping-force detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/082—Grasping-force detectors
    • B25J13/083—Grasping-force detectors fitted with slippage detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39505—Control of gripping, grasping, contacting force, force distribution
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39507—Control of slip motion
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39532—Gripping force sensor build into finger

Definitions

  • the present invention relates to an end actuator mechanism and control algorithm for a decision mechanism that improves object manipulation in robotic production lines used in industry to increase production efficiency and is based on mechatronic, robotic, programming and control basis to be applied to soft, brittle, rigid etc. various objects and allows soft, brittle, rigid etc. various objects to be grasped or moved.
  • Industrial robots can be defined as machines that do business in the industry by transporting objects such as parts, materials and work tools by means of an end- function connected to the last limb, which repeatedly follows the trajectories taught by programming by means of the rotational and/or sliding joints with a certain number of axes and limbs and the actuators that activate these joints.
  • Industrial manipulators significantly increase the quality and efficiency in production. They can carry out their operations without getting tired and can work much faster and safer than individuals. They are not affected by negative factors such as loud noises, harmful rays and high temperatures. They can repeat the operations taught previously by means of programming, many times with very high precision. Although the initial setup costs are high, it is a more profitable investment in the long term and has started to be preferred even by medium-sized companies today. Despite all these advantages, the intervention capabilities of the robot manipulator in case of danger are limited by its program and in case of an unexpected situation; it is not possible to react like a human. Besides, although its movements are much more sensitive and reproducible than humans, the operating space is limited with its limbs and joints. Industrial robots work dependent on user programming and required to be reprogrammed to be used for a different aim.
  • robots are used in assembly and disassembly processes, such as handlingarranging, turning-rotating, mixing, welding, painting, cutting, drilling, sharpening, polishing and deburring in large production facilities.
  • the motion principles of the robots are based on placing the trajectory to be followed by the end actuator into the absolute coordinate system by means of transformation matrices and converting these coordinates into joint slip and/or rotation amounts with the help of kinematic calculations and transmitting them to the actuators.
  • the trajectory to be processed in industrial robots is determined by online and offline programming methods. Online programming is performed by means of the control panel (teach pendant) connected to the robot and the trajectory to be followed by the robot is shown to the robot with the buttons and control structures, the determined points are recorded and thus introduced to the robot. These points introduced to the robot are translated into commands in the robot programming language.
  • offline programming is software programming by coding through a programming language supported by the robot.
  • robot and the workspace can be simulated in three dimensions and the determination of the trajectory can thus be performed offline by means of the graphic-based programs prepared by industrial robot manufacturers and offered to users alongside robots.
  • Trajectory determination process can also be performed by converting the image data taken from the camera into coordinates by subjecting it to image processing techniques such as filtering and edge detection algorithms as a result of technological developments in the field of computer vision in recent years in addition to all these methods.
  • the end actuator mechanism must be able to operate effectively with the objects it interacts with so as to enable the same performing different tasks.
  • Many of the designs in the literature are based on solid bodies (non-deformed rigid bodies). This causes interactions that will damage the objects in the interaction of more sensitive materials/objects. Solutions in which precision force sensors with multiple degrees of freedom are used and this information is interpreted and controlled with software, which have a high probability of error, expensive and unsatisfactory results are emphasized for this problem. Furthermore, even these solution methods may cause security weakness in terms of human-robot interaction studies within the scope of Industry 4.0. It is not sufficient to artificially provide the precision of the mechanism designed for this purpose to the environment. Besides, It is possible to cause errors such as damage to the object, etc. in case of slippage or insufficient grip during the manipulation of objects. No control algorithms are available in which both adaptive force control and position control are performed, and except those, taking into account the physical properties of the object such as surface smoothness.
  • the inventive decision and control algorithm provides manipulation of any object whose hardness, dimensions and surface roughness are unknown without slipping and damage by using a hybrid adaptive force and position-control.
  • Decision and control algorithm and force sensors are used sequentially so as to obtain information regarding whether slipping occurs or not and grip information during object manipulation. It ensures to update the force reference determined by the user and initially applied so that the minimum required force value is obtained without slipping and damaging the object by processing the information obtained from the position and the force sensors on the mechanism.
  • the dimensions of the object can be obtained with the help of the position sensor in the decision and control algorithm.
  • the contact force value can be obtained during the object interaction with the force sensors in the decision and control algorithm of the invention subject to application.
  • Safer object interaction is provided by designing a hybrid force-position controller based anti-slip adaptive force-decision mechanism with the inventive decision and control algorithm.
  • it is possible to effectively manipulate objects of different hardness/sensitivity. While the algorithm in the invention, which is the subject of the application, performs these, it gives priority to the force controller during the interaction of sensitive objects, and to the position controller for the grip/holding phase, and allows the algorithm to change the reference value determined by the data collected from the force sensors.
  • the invention which is the subject of the application, plays an important role in terms of object-robot interaction so as to increase production efficiency within the scope of Industry 4.0 This makes it possible to safely manipulate different types of objects (metal, plastic, paper, food, etc.).
  • the aim of the present invention is to provide a decision mechanism and control algorithm that enables the manipulation of any object, without slipping and damage, whose hardness, dimensions and surface roughness are unknown by using adaptive force and position control in a hybrid way.
  • Another aim of the invention is to provide a decision and control algorithm in which force sensors are used sequentially so as to obtain information regarding whether slipping occurs or not and grip information during object manipulation.
  • Another aim of the invention is to provide a decision mechanism and control algorithm that ensures to update the force reference determined by the user and initially applied so that the minimum required force value is obtained without slipping and damaging the object by processing the information obtained from the position of the force sensors on the finger.
  • Another aim of the invention is to provide a decision mechanism and control algorithm that ensures receiving information about the position of the fingers and the dimensions of the object with the help of the position sensors.
  • Another aim of the invention is to provide a decision mechanism and control algorithm in which contact force value can be obtained during the object interaction with the force sensors.
  • Another aim of the invention is to obtain a decision mechanism and control algorithm in which safer object interaction is provided by designing a hybrid forceposition controller based anti-slip adaptive force-decision mechanism.
  • Another aim of the invention is to provide a decision mechanism and control algorithm that makes it possible to effectively manipulate objects of different hardness/sensitivity.
  • Another aim of the invention is to provide a decision mechanism and control algorithm that gives priority to the force controller during the interaction of sensitive objects and to the position controller for the grip/holding phase and allows changing the reference value determined by the user with the help of the data collected from the force sensors.
  • Another aim of the invention is to develop a decision mechanism and control algorithm that plays an important role in terms of object-robot interaction so as to increase production efficiency within the scope of Industry 4.0
  • first of all the user sends a position reference signal to the fingers with the microprocessor using serial communication in the hybrid force-position control based anti-slip control mechanism for object manipulation.
  • a force reference signal of the interaction between the fingers and the object is sent with the microprocessor by the user using serial communication.
  • Objects are grasped by comparing the force information obtained from the fingers with the previous information as vector.
  • the decision mechanism controls the automatic change of the force reference by calculating the information about the grasping, manipulation and sliding of the objects.
  • the command signal required to activate the motors and calculated from the position and force error of the fingers is obtained.
  • This obtained signal is sent to the motor drivers by means of connectors via the microprocessor.
  • the position control signal is generated mathematically as a result of the error calculation between the position reference and the current position of the fingers.
  • a force control signal is generated by means of the designed force controller of the error value calculated by the signal generated at the output of the decision mechanism and the signals obtained from the force sensors placed on the fingers.
  • Command signal is obtained which is required to drive the engine by mathematically summing the generated position and force control signals.
  • a signal is generated that shows the current location of the fingers, which is obtained from the position sensors on the fingers and used for comparison with the position reference.
  • Vectorial signal value is obtained from force sensors placed sequentially on the fingers. The signal obtained from the force sensors is finally transmitted to the decision mechanism.
  • Figure 1 Is a perspective view of the end actuator mechanism.
  • Figure 2. Is a schematic view of the control mechanism.
  • An end actuator mechanism (1 ) that improves object manipulation in robotic production lines used in industry to increase production efficiency and is based on mechatronic, robotic, programming and control basis to be applied to soft, brittle, rigid etc. various objects and allows soft, brittle, rigid etc. various objects to be transported or moved, mainly comprises the following;
  • - fingers (3) that is based on mechatronics, robotics, programming and control that can be applied to objects and allow soft, brittle, rigid etc. various objects to be transported or moved,
  • control mechanism (18) that improves object manipulation of fingers (3) and is based on mechatronic, robotic, programming and control basis to be applied to soft, brittle, rigid etc. various objects and enables the control of soft, brittle, rigid etc. various objects while being transported or moved.
  • the inventive end actuator mechanism (1 ) improves object manipulation in robotic production lines used in industry to increase production efficiency and is based on mechatronic, robotic, programming and control basis to be applied to soft, brittle, rigid etc. various objects and enables the control of soft, brittle, rigid etc. various objects while being transported or moved.
  • the end actuator mechanism (1 ) and the decision algorithm (100), which are included in an application of the invention provides manipulation of any object whose hardness, dimensions and surface roughness are unknown without slipping and damage by using a hybrid adaptive force and position-control.
  • End actuator mechanism (1 ) and decision algorithm (100) provides that forces sensors (4) are used sequentially so as to obtain information regarding whether slipping occurs or not and grip information during object manipulation.
  • End actuator mechanism (1 ) and decision algorithm (100) ensures to update the force reference (18.2) determined by the user and initially applied so that the minimum required force value is obtained without slipping and damaging the object by processing the information obtained from the position and the force sensors (4) on the finger (3).
  • End actuator mechanism (1 ) and decision algorithm (100) provides information about the position of the fingers (3) and the dimensions of the object can be obtained with the help of the position sensor. End actuator mechanism (1 ) and decision algorithm (100) provides to obtain the contact force value during the interaction of the object with the force sensors (4). End actuator mechanism (1 ) and decision algorithm (100) provides safer object interaction by designing a hybrid force-position controller based anti-slip adaptive force-decision mechanism. End actuator mechanism (1 ) and decision algorithm (100) makes it possible to effectively manipulate objects of different hardness/sensitivity. End actuator mechanism (1 ) and decision algorithm (100) gives priority to the force controller during the interaction of sensitive objects, and to the position controller for the grip/holding phase, and allows the user to change the reference value determined by the data collected from the force sensors. End actuator mechanism (1 ) and decision algorithm (100) play an important role in terms of object-robot interaction so as to increase production efficiency within the scope of Industry 4.0.
  • Control algorithm (100) for the decision mechanism (2) that improves object manipulation in robotic production lines used in industry to increase production efficiency and is based on mechatronic, robotic, programming and control basis to be applied to soft, brittle, rigid etc. various objects and which allows soft, brittle, rigid etc. various objects to be transported or moved according to claim 1 , characterized in that; it mainly comprises the following process steps;
  • the usage of the control algorithm (100) for decision mechanism (2) included in one embodiment of the invention is realized as follows. First of all the user sends a position reference (18.1 ) signal to the fingers (3) with the microprocessor using serial communication in the hybrid force-position control based anti-slip control mechanism (18) for object manipulation in the control algorithm (100) for the decision mechanism (2) (101 ). A force reference signal (18.2) of the interaction between the fingers (3) and the object is sent with the microprocessor by the user using serial communication after the process step of 101 (102), objects are grasped by comparing the force information obtained from the fingers (4) with the previous information as vector after the force reference (18.2) is sent (102) (103).
  • the decision mechanism (2) is controlled where the force reference (18.2) is automatically changed by calculating the information about the grasping, manipulation and sliding of objects after the objects are grasped (103) (104).
  • Command signal required to activate the motor (16) and calculated from the position and force error of the fingers (3) is obtained after the process step of 104 (105). This signal obtained in the process step of 105 is sent to the motor (16) driver by the microprocessor via connectors (107).
  • a position control signal (18.6) is generated mathematically as a result of the error calculation between the position reference (18.1 ) and the current position of the fingers (3) after the signals are sent (107) (108),
  • a force control signal (18.7) is generated by means of the designed force controller (18.5) of the error value calculated by the signal generated at the output of the decision mechanism (2) and the signals obtained from the force sensors (4) placed on the fingers (3) (109).
  • Command signal is obtained which is required to drive the motor (16) by mathematically summing the generated position (18.6) and force control signals (18.7) (1 10).
  • the signal obtained from the position sensor (5) located in the motor (16) or the end actuator mechanism (1 ) and indicating the current position of the fingers (3) used for comparison with the position reference (18.1 ) is generated (11 1 ).
  • Vectorial signal value is obtained from force sensors (4) placed sequentially on the fingers (3).
  • the signal obtained from the force sensors (4) is finally transmitted to the decision mechanism (2) (1 12).
  • the decision mechanism (2) (1 12).

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un mécanisme d'actionneur terminal (1) et un algorithme de commande (100) pour un mécanisme de décision (2) qui améliore une manipulation d'objet dans des lignes de production robotiques utilisées dans l'industrie pour accroître une efficacité de production et a une base mécatronique, robotique, de programmation et de commande à appliquer à divers objets souples, fragiles, rigides, etc., et permet un transport ou un déplacement de divers objets souples, fragiles, rigides, etc.
PCT/TR2021/051698 2021-10-15 2021-12-31 Mécanisme de décision anti-glissement basé sur une commande de position/force hybride et algorithme de commande pour une manipulation d'objet avec un mécanisme d'actionneur terminal WO2023063903A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
TR2021/016090 TR2021016090A2 (tr) 2021-10-15 Uç eyleyi̇ci̇ mekani̇zmasi i̇le nesne mani̇pülasyonu i̇çi̇n hi̇bri̇t kuvvet-konum kontrolü tabanli kayma önleyi̇ci̇ karar mekani̇zmasi ve kontrol algori̇tmasi
TR2021016090 2021-10-15

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WO2023063903A1 true WO2023063903A1 (fr) 2023-04-20

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PCT/TR2021/051698 WO2023063903A1 (fr) 2021-10-15 2021-12-31 Mécanisme de décision anti-glissement basé sur une commande de position/force hybride et algorithme de commande pour une manipulation d'objet avec un mécanisme d'actionneur terminal

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0084249A2 (fr) * 1982-01-15 1983-07-27 The Marconi Company Limited Dispositif d'entraînement mécanique pour un robot industriel
US20120133318A1 (en) * 2010-01-15 2012-05-31 Mayumi Komatsu Control apparatus, control method, and control program for elastic actuator drive mechanism
CN109623770A (zh) * 2018-12-13 2019-04-16 清华大学 一种基于混联机构的力控建筑安装机器人

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0084249A2 (fr) * 1982-01-15 1983-07-27 The Marconi Company Limited Dispositif d'entraînement mécanique pour un robot industriel
US20120133318A1 (en) * 2010-01-15 2012-05-31 Mayumi Komatsu Control apparatus, control method, and control program for elastic actuator drive mechanism
CN109623770A (zh) * 2018-12-13 2019-04-16 清华大学 一种基于混联机构的力控建筑安装机器人

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