An Alignment Method of Human-Robot Collaboration Based on the Six-Dimensional ForceTorque Dynamic Measurement for Large-Scale Components
المؤلفون المشاركون
Wen, Ke
Du, Fuzhou
Zhang, Jiabo
Yang, JiZhi
المصدر
العدد
المجلد 2018، العدد 2018 (31 ديسمبر/كانون الأول 2018)، ص ص. 1-7، 7ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2018-09-02
دولة النشر
مصر
عدد الصفحات
7
التخصصات الرئيسية
الملخص EN
A Stewart parallel robot (SPR) is a promising choice for alignment or assembly of components that are large or heavy.
This paper presents a method for human-robot collaboration, for positioning and orientation of large components.
Use of interactive force measurements is important for human-robot collaboration.
It is based on six-dimensional force/torque (F/T) measurements.
First, the six-dimensional F/T data are calculated based on the six-actuator SPR geometry and screw theory.
Second, the effects of gravity forces (dynamic gravity compensation) are considered, and a method to offset their effects is explained.
Third, force estimation experiments were performed using an S-type force sensor and known applied test forces.
Finally, the F/T-driven feedback was tested for the alignment of a large-scale component.
The experimental results show that the calculated six-dimensional F/T can accurately track the force applied to a large and/or heavy component by a human worker.
It can also accurately predict the F/T required to compensate for inertial forces and components’ weight.
Thus, the alignment method of human-robot collaboration based on the six-dimensional force/torque dynamic measurements for large-scale components is correct and effective.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Wen, Ke& Du, Fuzhou& Zhang, Jiabo& Yang, JiZhi. 2018. An Alignment Method of Human-Robot Collaboration Based on the Six-Dimensional ForceTorque Dynamic Measurement for Large-Scale Components. Journal of Robotics،Vol. 2018, no. 2018, pp.1-7.
https://search.emarefa.net/detail/BIM-1197777
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Wen, Ke…[et al.]. An Alignment Method of Human-Robot Collaboration Based on the Six-Dimensional ForceTorque Dynamic Measurement for Large-Scale Components. Journal of Robotics No. 2018 (2018), pp.1-7.
https://search.emarefa.net/detail/BIM-1197777
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Wen, Ke& Du, Fuzhou& Zhang, Jiabo& Yang, JiZhi. An Alignment Method of Human-Robot Collaboration Based on the Six-Dimensional ForceTorque Dynamic Measurement for Large-Scale Components. Journal of Robotics. 2018. Vol. 2018, no. 2018, pp.1-7.
https://search.emarefa.net/detail/BIM-1197777
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1197777
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر