Workspace Boundary Avoidance in Robot Teaching by Demonstration Using Fuzzy Impedance Control

Document Type : Original Article

Authors

1 Center of excellence on soft computing and intelligent information processing, Department of mechanical engineering, Faculty of engineering, Ferdowsi Univeristy of Mashhad, Mashhad, Iran

2 Mechanical Engineering Department, Center of Excellence on Soft Computing and Intelligent Information Processing, Ferdowsi University of Mashhad, Mashhad, Iran

3 Center of Excellence on Soft Computing and Intelligent Information Processing, Mechanical Engineering Department, Ferdowsi University of Mashhad, Mashhad, Iran

Abstract

The present paper investigates an intuitive way of robot path planning, called robot teaching by demonstration. In this method, an operator holds the robot end-effector and moves it through a number of positions and orientations in order to teach it a desired task. The presented control architecture applies impedance control in such a way that the end-effector follows the operator’s hand with desired dynamic properties. The operator often teaches the robot in the middle of the robot workspace. Then, this leads to lose a lot of accessible space. Workspace boundary is specified where a joint meets its end or a singularity happens. In this paper, a method is proposed to warn the operator before the end-effector faces the boundary of the workspace which results in using the robot workspace efficiently. It is achieved by means of two fuzzy controllers which smoothly increase the damping parameter of the impedance controller when the robot is closing on to a joint limit or a singularity. The increase of damping parameter dissipates the kinetic energy that is imposed by the operator to move the end-effector toward workspace boundary. The proposed method is applied on an industrial grade SCARA type robot. Experimental results show the effectiveness of the proposed method in a clear way.

Keywords

References

[1]      Z. Pan, H. Zhang, Robotic machining from programming to process control: a complete solution by force control, Industrial Robot: An International Journal, Vol. 35, No. 5, pp. 400-409, 2008.
[2]      J. Norberto Pires, G. Veiga, R. Araújo, Programming-by-demonstration in the coworker scenario for SMEs, Industrial Robot: An International Journal, Vol. 36, No. 1, pp. 73-83, 2009.
[3]      R. D. Schraft, C. Meyer, The need for an intuitive teaching method for small and medium enterprises, VDI BERICHTE, Vol. 1956, pp. 95, 2006.
[4]      Z. Pan, J. Polden, N. Larkin, S. Van Duin, J. Norrish, Recent progress on programming methods for industrial robots, Robotics and Computer-Integrated Manufacturing, Vol. 28, No. 2, pp. 87-94, 2012.
[5]      M. H. Ang Jr, W. Lin, S.-Y. Lim, A walk-through programmed robot for welding in shipyards, Industrial Robot: An International Journal, Vol. 26, No. 5, pp. 377-388, 1999.
[6]      L. Bascetta, G. Ferretti, G. Magnani, P. Rocco, Walk-through programming for robotic manipulators based on admittance control, Robotica, Vol. 31, No. 07, pp. 1143-1153, 2013.
[7]      E. G. Kaigom, J. Roßmann, Physics-based simulation for manual robot guidance—An eRobotics approach, Robotics and Computer-Integrated Manufacturing, Vol. 43, pp. 155-163, 2017.
[8]      G. F. Rossano, C. Martinez, M. Hedelind, S. Murphy, T. A. Fuhlbrigge, Easy robot programming concepts: An industrial perspective, in Proceeding of, IEEE, pp. 1119-1126.
[9]      ISO, 10218-1: 2011 - Robots and Robotic Devices - Safety Requirements for Industrial Robots - Part 1: Robot Systems and Integration, International Organization for Standardization, 2011.
[10]    ISO, 10218-2: 2011 - Robots and Robotic Devices - Safety Requirements for Industrial Robots - Part 2: Robot Systems and Integration, International Organization for Standardization, 2011.
[11]    D. Massa, M. Callegari, C. Cristalli, Manual guidance for industrial robot programming, Industrial Robot: An International Journal, Vol. 42, No. 5, pp. 457-465, 2015.
[12]    A. Brunete, C. Mateo, E. Gambao, M. Hernando, J. Koskinen, J. M. Ahola, T. Seppälä, T. Heikkila, User-friendly task level programming based on an online walk-through teaching approach, Industrial Robot: An International Journal, Vol. 43, No. 2, pp. 153-163, 2016.
[13]    G. B. Rodamilans, G. B. Rodamilans, E. Villani, E. Villani, L. G. Trabasso, L. G. Trabasso, W. R. d. Oliveira, W. R. d. Oliveira, R. Suterio, R. Suterio, A comparison of industrial robots interface: force guidance system and teach pendant operation, Industrial Robot: An International Journal, Vol. 43, No. 5, pp. 552-562, 2016.
[14]    A. Winkler, J. Suchý, Force-guided motions of a 6-dof industrial robot with a joint space approach, Advanced Robotics, Vol. 20, No. 9, pp. 1067-1084, 2006.
[15]    C. H. Park, J. H. Kyung, D. I. Park, K. T. Park, D. H. Kim, D. G. Gweon, Direct teaching algorithm for a manipulator in a constraint condition using the teaching force shaping method, Advanced Robotics, Vol. 24, No. 8-9, pp. 1365-1384, 2010.
[16]    P. Kormushev, S. Calinon, D. G. Caldwell, Imitation learning of positional and force skills demonstrated via kinesthetic teaching and haptic input, Advanced Robotics, Vol. 25, No. 5, pp. 581-603, 2011.
[17]    H.-C. Song, Y.-L. Kim, J.-B. Song, Guidance algorithm for complex-shape peg-in-hole strategy based on geometrical information and force control, Advanced Robotics, Vol. 30, No. 8, pp. 552-563, 2016.
[18]    A. M. Mohammadi, A. Akbarzadeh, A novel real-time singularity avoidance approach for manual guidance of industrial robots, Modares Mechanical Engineering, Vol. 16, No. 9, pp. 403-413, 2016.
[19]    A. M. Mohammadi, A. Akbarzadeh, A new on-line singularity avoidance approach for manual guidance of industrial robots using variable impedance control, Modares Mechanical Engineering, Vol. 16, No. 11, pp. 311-322, 2016.
[20]    A. Mousavi Mohammadi, A. Akbarzadeh, A real-time impedance-based singularity and joint-limits avoidance approach for manual guidance of industrial robots, Advanced Robotics, Vol. 31, No. 18, pp. 1016-1028, 2017.
[21]    M. Abderrahmane, A. Djuric, W. Chen, C. Yeh, Study and validation of singularities for a Fanuc LR Mate 200iC robot, in Proceeding of, IEEE, pp. 432-437.
[22]    M. H. Ang, L. Wei, L. S. Yong, An industrial application of control of dynamic behavior of robots-a walk-through programmed welding robot, in Proceeding of, IEEE, pp. 2352-2357.
[23]    G. Grunwald, G. Schreiber, A. Albu-Schaffer, G. Hirzinger, Programming by touch: The different way of human-robot interaction, IEEE Transactions on Industrial Electronics, Vol. 50, No. 4, pp. 659-666, 2003.
[24]    G. Ferretti, G. Magnani, P. Rocco, Assigning virtual tool dynamics to an industrial robot through an admittance controller, International Conference on Advanced Robotics (ICAR), pp. 1-6, Munich, 2009.
[25]    A. M. Mohammadi, A. Akbarzadeh, E. Adel, Trajectory generation for industrial robots using impedance control, The 24th Annual International Conference on Mechanical Engineering (ISME2016), 2016.
[26]    A. Mousavi, A. Akbarzadeh, M. Shariatee, S. Alimardani, Design and construction of a linear-rotary joint for robotics applications, The Third International Conference on Robotics and Mechatronics (ICRoM), pp. 229-233, Tehran, 2015.
[27]    A. Mousavi, A. Akbarzadeh, M. Shariatee, S. Alimardani, Repeatability analysis of a SCARA robot with planetary gearbox, The Third International Conference on Robotics and Mechatronics (ICRoM), pp. 640-644, Tehran, 2015.
[28]    M. Shariatee, A. Akbarzadeh, A. Mousavi, S. Alimardani, Design of an economical SCARA robot for industrial applications, The Second International Conference on Robotics and Mechatronics (ICRoM), pp. 534-539, Tehran, 2014.
[29]    L. A. Zadeh, Fuzzy sets, Information and control, Vol. 8, No. 3, pp. 338-353, 1965.
[30]    L.-X. Wang, A course in fuzzy systems: Prentice-Hall press, USA, 1999.
[31]    N. Yagiz, Y. Hacioglu, Robust control of a spatial robot using fuzzy sliding modes, Mathematical and Computer Modelling, Vol. 49, No. 1, pp. 114-127, 2009.
[32]    A. M. Mohammadi, A. Akbarzadeh, I. Kardan, A new mapping method for joint and Cartesian stiffness, damping and mass matrices for large displacement in impedance control, Modares Mechanical Engineering, Vol. 17, No. 1, pp. 117-128, 2017.
[33]    J. M. Dolan, M. B. Friedman, M. L. Nagurka, Dynamic and loaded impedance components in the maintenance of human arm posture, IEEE Transactions on Systems, Man, and Cybernetics, Vol. 23, No. 3, pp. 698-709, 1993. 
International Journal of Robotics, Theory and Applications
Volume 5, Issue 1
June 2019
Pages 16-26

Files

Share

How to cite

Statistics