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首页> 美国卫生研究院文献>Sensors (Basel Switzerland) >Instrumented Compliant Wrist with Proximity and Contact Sensing for Close Robot Interaction Control
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Instrumented Compliant Wrist with Proximity and Contact Sensing for Close Robot Interaction Control

机译：接近距离和接触感应的仪表式兼容手腕用于紧密的机器人交互控制

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摘要

Compliance has been exploited in various forms in robotic systems to allow rigid mechanisms to come into contact with fragile objects, or with complex shapes that cannot be accurately modeled. Force feedback control has been the classical approach for providing compliance in robotic systems. However, by integrating other forms of instrumentation with compliance into a single device, it is possible to extend close monitoring of nearby objects before and after contact occurs. As a result, safer and smoother robot control can be achieved both while approaching and while touching surfaces. This paper presents the design and extensive experimental evaluation of a versatile, lightweight, and low-cost instrumented compliant wrist mechanism which can be mounted on any rigid robotic manipulator in order to introduce a layer of compliance while providing the controller with extra sensing signals during close interaction with an object’s surface. Arrays of embedded range sensors provide real-time measurements on the position and orientation of surfaces, either located in proximity or in contact with the robot’s end-effector, which permits close guidance of its operation. Calibration procedures are formulated to overcome inter-sensor variability and achieve the highest available resolution. A versatile solution is created by embedding all signal processing, while wireless transmission connects the device to any industrial robot’s controller to support path control. Experimental work demonstrates the device’s physical compliance as well as the stability and accuracy of the device outputs. Primary applications of the proposed instrumented compliant wrist include smooth surface following in manufacturing, inspection, and safe human-robot interaction.
机译：机器人系统中已经以各种形式利用了合规性，以使刚性机构与易碎物体或无法精确建模的复杂形状接触。力反馈控制已成为在机器人系统中提供合规性的经典方法。但是，通过将符合要求的其他形式的仪器集成到单个设备中，可以在发生接触之前和之后扩展对附近物体的紧密监视。结果，在接近表面和接触表面时都可以实现更安全，更流畅的机器人控制。本文介绍了一种多功能，轻巧和低成本的仪器化顺应腕机构的设计和广泛的实验评估，该腕机构可以安装在任何刚性机器人操纵器上，以引入顺应层，同时在关闭时为控制器提供额外的传感信号与物体表面的相互作用。嵌入式距离传感器阵列可对位于机器人末端执行器附近或与之接触的表面的位置和方向进行实时测量，从而可以密切指导其操作。制定了校准程序来克服传感器之间的差异并实现最高的可用分辨率。通过嵌入所有信号处理来创建通用解决方案，同时无线传输将设备连接到任何工业机器人的控制器以支持路径控制。实验工作证明了设备的物理适应性以及设备输出的稳定性和准确性。拟议的仪器化手腕的主要应用包括在制造，检查和安全的人机交互之后进行光滑表面处理。

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