A Framework for Inclusion of Unmodelled Contact Tasks Dynamics in Industrial Robotics
This paper presents a method to include unmodeled dynamics of load or a robot’s end-effector into algorithms for collision detection or general understanding of a robot’s operation context. The approach relies on the application of a previously developed modification of the Dynamic Time Warping algo...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-10-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/22/19/7650 |
| _version_ | 1797476823636901888 |
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| author | Zaviša Gordić Kosta Jovanović |
| author_facet | Zaviša Gordić Kosta Jovanović |
| author_sort | Zaviša Gordić |
| collection | DOAJ |
| description | This paper presents a method to include unmodeled dynamics of load or a robot’s end-effector into algorithms for collision detection or general understanding of a robot’s operation context. The approach relies on the application of a previously developed modification of the Dynamic Time Warping algorithm, as well as a universally applicable algorithm for identifying kinematic parameters. The entire process can be applied to arbitrary robot configuration, and it does not require identification of dynamic parameters. The paper addresses the two main categories of contact tasks with unmodelled dynamics, which are determined based on whether the external contact force has a consistent profile in the end effector or base coordinate. Conclusions for representative examples analysed in the paper are applicable to tasks such as load manipulation, press bending, and crimping for the first type of forces and applications such as drilling, screwdriving, snap-fit, bolting, and riveting assembly for the latter category. The results presented in the paper are based on realistic testing with measurements obtained from an industrial robot. |
| first_indexed | 2024-03-09T21:09:12Z |
| format | Article |
| id | doaj.art-6ded454357b848d9b7cf9a85d9a2757e |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T21:09:12Z |
| publishDate | 2022-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-6ded454357b848d9b7cf9a85d9a2757e2023-11-23T21:52:35ZengMDPI AGSensors1424-82202022-10-012219765010.3390/s22197650A Framework for Inclusion of Unmodelled Contact Tasks Dynamics in Industrial RoboticsZaviša Gordić0Kosta Jovanović1University of Belgrade, School of Electrical Engineering, 11000 Belgrade, SerbiaUniversity of Belgrade, School of Electrical Engineering, 11000 Belgrade, SerbiaThis paper presents a method to include unmodeled dynamics of load or a robot’s end-effector into algorithms for collision detection or general understanding of a robot’s operation context. The approach relies on the application of a previously developed modification of the Dynamic Time Warping algorithm, as well as a universally applicable algorithm for identifying kinematic parameters. The entire process can be applied to arbitrary robot configuration, and it does not require identification of dynamic parameters. The paper addresses the two main categories of contact tasks with unmodelled dynamics, which are determined based on whether the external contact force has a consistent profile in the end effector or base coordinate. Conclusions for representative examples analysed in the paper are applicable to tasks such as load manipulation, press bending, and crimping for the first type of forces and applications such as drilling, screwdriving, snap-fit, bolting, and riveting assembly for the latter category. The results presented in the paper are based on realistic testing with measurements obtained from an industrial robot.https://www.mdpi.com/1424-8220/22/19/7650industrial robotsIndustry 4.0contact task dynamicssensor data fusion |
| spellingShingle | Zaviša Gordić Kosta Jovanović A Framework for Inclusion of Unmodelled Contact Tasks Dynamics in Industrial Robotics Sensors industrial robots Industry 4.0 contact task dynamics sensor data fusion |
| title | A Framework for Inclusion of Unmodelled Contact Tasks Dynamics in Industrial Robotics |
| title_full | A Framework for Inclusion of Unmodelled Contact Tasks Dynamics in Industrial Robotics |
| title_fullStr | A Framework for Inclusion of Unmodelled Contact Tasks Dynamics in Industrial Robotics |
| title_full_unstemmed | A Framework for Inclusion of Unmodelled Contact Tasks Dynamics in Industrial Robotics |
| title_short | A Framework for Inclusion of Unmodelled Contact Tasks Dynamics in Industrial Robotics |
| title_sort | framework for inclusion of unmodelled contact tasks dynamics in industrial robotics |
| topic | industrial robots Industry 4.0 contact task dynamics sensor data fusion |
| url | https://www.mdpi.com/1424-8220/22/19/7650 |
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