Abstract: In order to realize human-robot collaboration in transferring task, a prototype of transferring robot is designed, where the operators intention is recognized through contact force. A single-degree-of-freedom motion manipulator is designed, which is composed of a rigid rod and a servo motor in a direct connection mode. In the torque mode, the closed-loop position controller is studied. In order to obtain the operation intention information, FSR films are set on both sides of the rigid rod end. The pressure sensor is used to detect the short-term contact force between the operator and the robotic arm, corresponding to the three common operating conditions, the corresponding time domain algorithms are given to extract the contact feature information, and the corresponding mapping rules are designed to identify the operators intention and generate instructions as the desired motion. And through the position control loop, the manipulator reaches the operators intended target position. Using the hardware-in-loop simulation system of the single-degree-of-freedom planar manipulator constructed in this study, a control task consisting of 4 fixed-point target positions and two forward and reverse motion directions is designed. The proposed human-machine cooperation control algorithm is verified. The results show that for the four fixed-point forward and reverse motion control tasks, the manipulator arm reaches the correct positions quickly according to the operators intention, indicating the design of the contact force-based handling robot system feasibility.- DOI:10.3969/j.issn.1000-1565.2021.01.014基于接触力识别的人机协作控制系统设计与实现肖金壮¹,赵帅¹,王伟²,王洪瑞¹( 1.河北大学 电子信息工程学院,河北 保定 071002;2.保定市一禾电气有限公司,河北 保定 071000 )摘 要:为实现人机协作搬运,设计了一种基于接触力操作意图识别的搬运机器人原型机.以直联方式设计由刚性杆和伺服电机构成的单自由度运动机械臂,研究位置控制器,实现扭矩工作模式下的闭环控制.为获取操作意图信息,在刚性杆末端两侧分别设置FSR薄膜压力传感器,用于检测操作者与机械臂的短暂接触力.对应3种常见操作情况给出相应时域算法提取接触特征信息,通过设计相应映射规则,识别操作者意图,生成指令作为期望运动,并通过位置控制环,机械臂到达操作者意图目标位置.采用本研究构建的单自由度平面机械臂半实物仿真系统,设计了由4个定点目标位置和正、反2个运动方向组成的控制任务,对提出的人机协作控制算法进行验证.结果表明,对4定点正向和反向运动控制任务,机械臂均按操作者意图,快速到达正确位置, 说明所设计基于接触力的搬运机器人系统具有可行性.关键词:人机协作;接触力检测;意图识别;机器人;货物搬运中图分类号:TP241 文献标志码:A 文章编号:1000-1565(2021)01-0093-06Development and implementation of a human-machine collaboration control system based on contact force identificationXIAO Jinzhuang¹, ZHAO Shuai¹, WANG Wei², WANG Hongrui¹(1. College of Electronic and Information Engineering, Hebei University, Baoding 071002, China; 2. Baoding Yihe Electrical Co., Ltd., Baoding 071000, China)Abstract: In order to realize human-robot collaboration in transferring task, a prototype of transferring robot is designed, where the operators intention is recognized through contact force. A single-degree-of-freedom motion manipulator is designed, which is composed of a rigid rod and a servo motor in a direct connection mode. In the torque mode, the closed-loop position controller is studied. In order to obtain the operation intention information, FSR films are set on both sides of the rigid rod end. The pressure sensor is used to detect the short-term contact force between the operator and the robotic arm, corresponding to the three common operating conditions, the corresponding time domain algorithms are given to extract the contact feature information, and the corresponding mapping rules are designed to identify the operators intention and generate instructions as the desired motion. And through the position control loop, the manipulator reaches the operators intended target position. Using the hardware-in-loop simulation system of the single-degree-of-freedom planar manipulator constructed in this study, a control task consisting of 4 fixed-point target positions and two forward and reverse motion directions is designed. The proposed human-machine cooperation control algorithm is verified. The results show that for the four fixed-point forward and reverse motion control tasks, the manipulator arm reaches the correct positions quickly according to the operators intention, indicating the design of the contact force-based handling robot system feasibility.- 收稿日期:2019-01-02 基金项目:河北省自然科学基金资助项目(H2016201201);河北大学研究生创新项目(X201713) 第一作者:肖金壮(1976—),男,河北定州人,河北大学副教授,博士, 主要从事机器人控制方向研究.E-mail:robot@hbu.edu.cn第1期肖金壮等:基于接触力识别的人机协作控制系统设计与实现

Key words: human-robot collaboration, contact force detection, intention identification, robot, cargo transfer