Use of U-sensor for motion safety of a collaborative manipulative robot

Use of U-sensor for motion safety of a collaborative manipulative robot

Vladimir V. Serebrenny
PhD in Technical Sciences, Associate Professor, Bauman Moscow State Technical University (BMSTU), Head of the Department of Robotic Systems and Mechatronics, 5-1, 2-ya Baumanskaya ul., Moscow, 105005, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0003-1182-2117

Received September 25, 2023

Abstract
One approach to increasing the operational efficiency of robotics is to utilize the capabilities of modern collaborative applications of robots. Within the framework of the paper, issues related to the possibility of utilizing the available sensor base, namely ultrasonic sensors for the sensing of robots for further collaborative use are discussed. A model of a sensing robot is presented and elements of a control algorithm for a collaborative robot are proposed.

Key words
Сollaborative robot, robot safety system.

DOI
10.31776/RTCJ.11403

Bibliographic description
Serebrenny, V.V. (2023). "Use of U-sensor for motion safety of a collaborative manipulative robot". Robotics and Technical Cybernetics, vol. 11, no. 4, pp. 267-273, DOI: 10.31776/RTCJ.11403. (in Russian).

UDC identifier
004.896:007.5:534-8

References

  1. Ibarra, J.C.P. and Siqueira, A.A.G. (2014), “Impedance control of rehabilitation robots for lower limbs. Review”, Proceedings - 2nd SBR Brazilian Robotics Symposium, 11th LARS Latin American Robotics Symposium and 6th Robocontrol Workshop on Applied Robotics and Automation, SBR LARS Robocontrol 2014 - Part of the Joint Conference on Robotics and Intelligent Systems, JCRIS 2014. 2. 2015. С. 235-240.
  2. Howard, B.C., Mcgee, S., Shin, N. and Shia, R. (2001), “The triarchic theory of intelligence and computer-based inquiry learning”, Educational Technology Research and Development, vol. 49, no. 4, pp. 49-69.
  3. Ohki, T., Nagatani, K. and Yoshida, K. (2010), “Collision avoidance method for mobile robot considering motion and personal spaces of evacuees”, IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010, Taipei, pp. 1819-1824.
  4. Adams, J. et al. (1996), “Cooperative material handling by human and robotic agents: module development and system synthesis”, Expert Systems with Applications, vol. 11, no. 2, pp. 89-97.
  5. Lu, Sh., Chung, Ja.H. and Velinsky, S.A. (2006), “Human-robot interaction detection: a wrist and base force/torque sensors approach”, Robotica, vol. 24, no. 4, pp. 419-427.
  6. Vasiliev, I.A. and Popov, A.V. (2015), “Control algorithms of a mobile robot with castor wheels in field with barriers”, Indian Journal of Science and Technology, vol. 8, no. 29.
  7. Wichmann, A., Korkmaz, T. and Tosun, A.S. (2018), “Robot control strategies for task allocation with connectivity constraints in wireless sensor and robot networks”, IEEE Transactions on Mobile Computing, vol. 17, no. 6, pp. 1429-1441.
  8. Wang, W., Li, R., Diekel, Z.M. and Jia, Yu. (2018), “Robot action planning by online optimization in human–robot collaborative tasks”, International Journal of Intelligent Robotics and Applications, vol. 2, no. 2, pp. 161-179.
  9. Egurnov, N.O. and Minenko, A.S. (2019), “Algorithm for constructing a map for a robot based on data from ultrasonic sensors”, Informatika, upravljajushhie sistemy, matematicheskoe i komp'juternoe modelirovanie (IUSMKM-2019). Materialy studencheskoj sekcii X Mezhdunarodnoj nauchno-tehnicheskoj konferencii v ramkah V Mezhdunarodnogo Nauchnogo foruma Doneckoj Narodnoj Respubliki [Informatics, control systems, mathematical and computer modeling (IUSMKM-2019). Materials of the student section of the X International Scientific and Technical Conference within the framework of the V International Scientific Forum of the Donetsk People's Republic], pp. 301-304. (in Russian).
  10. Serebrenny,V. and Shereuzhev, M. (2020), “Dependence of dynamics of multi-robot system on control architecture “, Studies in Systems, Decision and Control, vol. 272, pp. 125-132.
  11. Serebrenny, V., Lapin, D., Mokaeva, A. and Shereuzhev, M. (2019), “Technological collaborative robotic systems”, AIP CONFERENCE PROCEEDINGS. XLIII ACADEMIC SPACE CONFERENCE: dedicated to the memory of academician S.P. Korolev and other outstanding Russian scientists – Pioneers of space exploration, pp. 170008, DOI: 10.1063/1.5133319.
  12. Shereuzhev, M. and Serebrenny, V. (2020), “Industrial collaborative multi-agent systems: main challenges”, Smart Innovation, Systems and Technologies, vol. 154, pp. 423-429.
  13. Ayusawa, K. and Nakamura, Y. (2012), “Fast Inverse Kinematics Algorithm for Large DOF System with Decomposed Gradient Computation Based on Recursive Formulation of Equilibrium”, IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura-Algarve, Portugal, ISBN:978-1-4673-1737-5, pp. 3447-3452, DOI 10.1109/IROS.2012.6385780.
  14. Nurmatova, E.V., Rovinec, G.O. and Sidel'nikov A.V. (2012), “Software implementation of a fuzzy logical inference system using the Mamdani algorithm”, Vestnik komp'juternyh i informacionnyh tehnologij, no. 5 (95). pp. 31-36. (in Russian).
  15. Kataeva, L.Ju. and Karpuhin, V.B. (2008), “On the Gear method for numerical modeling of dynamic systems described by stiff ordinary differential equations”, Nauka i tehnika transporta,1, pp. 57-66. (in Russian).