Automation of Train Cab Front Cleaning With a Robot Manipulator
Automation of Train Cab Front Cleaning With a Robot Manipulator
复制标题
DOI：
10.1109/lra.2018.2849591
复制
发表时间：
2018-10-01
影响因子：
5.2
通讯作者：
Erden, Mustafa Suphi
中科院分区：
文献类型：
--
作者：
Moura, Joao;Mccoll, William;Erden, Mustafa Suphi
在这封信中，我们提出了一种用于擦拭列车驾驶室前面板的控制和轨迹跟踪方法，使用速度控制的机器人机械手和附着在其末端执行器上的力/扭矩传感器，而不使用任何表面模型或基于视觉的表面检测。控制策略包括一个同步位置和力控制器，该控制器根据操作空间公式进行调整，使清洁工具与表面法线对齐，保持设定点法线力，同时沿着表面移动。轨迹跟踪策略包括指定和跟踪二维路径，当投影到列车表面时，该路径对应于所需的运动模式。我们首先使用Baxter机器人验证了我们的方法，用螺旋扫描和光栅扫描运动模式擦拭高度弯曲的表面。最后，我们在一个缩放机器人原型中实现了相同的方法，我们专门设计了一个用光栅扫描模式擦除1/8缩放版本的火车驾驶室前部。
In this letter we present a control and trajectory tracking approach for wiping the train cab front panels, using a velocity controlled robotic manipulator and a force/torque sensor attached to its end effector, without using any surface model or vision-based surface detection. The control strategy consists in a simultaneous position and force controller, adapted from the operational space formulation, that aligns the cleaning tool with the surface normal, maintaining a set-point normal force, while simultaneously moving along the surface. The trajectory tracking strategy consists in specifying and tracking a two dimensional path that, when projected onto the train surface, corresponds to the desired pattern of motion. We first validated our approach using the Baxter robot to wipe a highly curved surface with both a spiral and a raster scan motion patterns. Finally, we implemented the same approach in a scaled robot prototype, specifically designed by ourselves to wipe a 1/8 scaled version of a train cab front, using a raster scan pattern.