Synthesis, control and experimental validation of a robotic helping hand for manufacturing applications

用于制造应用的机器人助手的合成、控制和实验验证

• 批准号: 430241-2012
• 负责人: Gosselin, Clement
• 金额: $ 6.34万
• 依托单位: Université Laval
• 依托单位国家: 加拿大
• 项目类别: Collaborative Research and Development Grants
• 财政年份: 2014
• 资助国家: 加拿大
• 起止时间: 2014-01-01 至 2015-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=552542
• 关键词: Synthesis; control; experimental; validation; robotic

This research initiative aims at developing a safe and reliable advanced robotic assistant (helping hand) capable of interacting with human operators in the performance of manipulation and assembly tasks. The robotic helping hand's physical capabilities (forces, range of motion) will be comparable to those of a human arm. Additionally, the adaptability and repeatability of the helping hand will be at least equal to that of an advanced state-of-the-art robot. The requirements for the robotic helping hand will be determined based on ergonomic data as well as on geometric, static and dynamic analyses of the force transmission properties. Experiments will also be conducted using an existing robot in order to investigate practical issues related to workspace, safety, dexterity and force transmission. Then, based on the results of these investigations and based on safety mechanisms developed in a previous research project, a robotic helping hand will be synthesized and built. The robotic helping hand is an articulated robot that can be manipulated by a human operator that can use it as an interactive tool. It is anticipated that the helping hand will have at least 7 degrees of freedom. It will be designed to be mounted on an overhead rail support so that it can be moved over a large workspace. The helping hand can function as an autonomous robot but it can also be controlled manually and intuitively by a human operator. To this end, control algorithms will be developed in order to produce the associated behaviours, namely: simple position control for autonomous motion, impedance control for interactive tasks and force amplification for tasks in which the helping hand is used as an extension of the operator's own arm. In order to provide an effective and intuitive human-machine interface, novel sensors will also be developed and integrated in the helping hand. Intuitive teaching modes will be implemented in order to fully exploit the capabilities of the sensors and to provide the human with a rich yet simple to use interface. Finally, the capabilities of the helping hand will be demonstrated using example tasks identified by the industrial collaborators in order to clearly highlight the results of the project and transfer the technology to industry.

该研究计划旨在开发一个安全可靠的高级机器人助手（帮助手），能够与人类操作员进行操纵和组装任务进行互动。机器人帮助手的身体能力（力，运动范围）将与人臂的物理能力相当。 另外，帮助手的适应性和可重复性至少等于先进的最新机器人。机器人帮助手的要求将基于人体工程学数据以及力传递性能的几何，静态和动态分析确定。还将使用现有机器人进行实验，以研究与工作区，安全性，敏捷性和力传输相关的实际问题。然后，基于这些研究的结果以及基于先前研究项目中开发的安全机制，将合成和建造机器人帮助手。机器人帮助手是一种铰接的机器人，可以由人类操作员操纵，可以将其用作交互式工具。预计帮助手将至少具有7度的自由度。它将设计为安装在头顶轨支架上，以便可以通过大型工作区移动。帮助手可以用作自动机器人，但也可以由人类操作员手动和直观地控制。为此，将开发控制算法，以产生相关的行为，即：自主运动的简单位置控制，交互式任务的阻抗控制以及对任务的强制放大，在这些任务中，将帮助手用作操作员自身手臂的扩展。为了提供有效，直观的人机界面，还将开发和集成在帮助手中的新型传感器。 将实现直观的教学模式，以充分利用传感器的功能并为人类提供丰富而易于使用的接口。最后，将使用工业合作者确定的示例任务来证明帮助手的功能，以清楚地强调项目的结果并将技术转移到行业。