Aiming at solving the problems of response lag and lack of precision and stability in constant grinding force control of industrial robot belts,a constant force control strategy combining fuzzy control and proportion ...Aiming at solving the problems of response lag and lack of precision and stability in constant grinding force control of industrial robot belts,a constant force control strategy combining fuzzy control and proportion integration differentiation(PID)was proposed by analyzing the signal transmission process and the dynamic characteristics of the grinding mechanism.The simulation results showed that compared with the classical PID control strategy,the system adjustment time was shortened by 98.7%,the overshoot was reduced by 5.1%,and the control error was 0.2%-0.5%when the system was stabilized.The optimized fuzzy control system had fast adjustment speeds,precise force control and stability.The experimental analysis of the surface morphology of the machined blade was carried out by the industrial robot abrasive grinding mechanism,and the correctness of the theoretical analysis and the effectiveness of the control strategy were verified.展开更多
Terrain classification and force assistance strategies in complex environments have always piqued the interest of many researchers.For wearable soft exosuits,inaccurate terrain recognition can easily introduce undesir...Terrain classification and force assistance strategies in complex environments have always piqued the interest of many researchers.For wearable soft exosuits,inaccurate terrain recognition can easily introduce undesired assist forces that can easily injure the wearer.Because of these problems,we introduced a depth camera into the exosuit system,perform classification of terrain based on a Vision Transformer(ViT),and optimized the control algorithm,which is known as a ViT-Based Terrain Recognition System(TTRS).First,we used the Transformer algorithm to achieve a considerable classification effect in terrain recognition.We also introduced terrain recognition as prior knowledge into the force assistance strategy of the exosuit,providing different force assistance to the exosuit in different terrains.Subsequently,we performed human experiments with seven able-bodied people(six males and one female).The promising results demonstrate that our classification accuracy can reach 99.2%under six different terrains and that it can smoothly switch the force–assist curve in different terrains to better adapt to the complex terrain and improve the walking effect.The aforementioned terrain recognition algorithms and force–assist strategies may positively influence the study of soft exosuit,powered prostheses,and orthotics.展开更多
基金Civil Project of China Aerospace Science and Technology CorporationUniversity-Industry Collaborative Education Program of Ministry of Education of China(No.220906517214433)。
文摘Aiming at solving the problems of response lag and lack of precision and stability in constant grinding force control of industrial robot belts,a constant force control strategy combining fuzzy control and proportion integration differentiation(PID)was proposed by analyzing the signal transmission process and the dynamic characteristics of the grinding mechanism.The simulation results showed that compared with the classical PID control strategy,the system adjustment time was shortened by 98.7%,the overshoot was reduced by 5.1%,and the control error was 0.2%-0.5%when the system was stabilized.The optimized fuzzy control system had fast adjustment speeds,precise force control and stability.The experimental analysis of the surface morphology of the machined blade was carried out by the industrial robot abrasive grinding mechanism,and the correctness of the theoretical analysis and the effectiveness of the control strategy were verified.
基金supported by the NSFC-Shenzhen Robotics Research Center Project(U2013207)the National Natural Science Foundation of China(62273325 and U1913207)+2 种基金the Research Project of"Quancheng Scholars"of weight-bearing walking assisting exosuit rigid-flexible bionic mechanism and motion mode adaptive controlthe SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems International Science&Technology Cooperation Program of China(2018YFE0125600)the National Natural Science Foundation of China(62003327).
文摘Terrain classification and force assistance strategies in complex environments have always piqued the interest of many researchers.For wearable soft exosuits,inaccurate terrain recognition can easily introduce undesired assist forces that can easily injure the wearer.Because of these problems,we introduced a depth camera into the exosuit system,perform classification of terrain based on a Vision Transformer(ViT),and optimized the control algorithm,which is known as a ViT-Based Terrain Recognition System(TTRS).First,we used the Transformer algorithm to achieve a considerable classification effect in terrain recognition.We also introduced terrain recognition as prior knowledge into the force assistance strategy of the exosuit,providing different force assistance to the exosuit in different terrains.Subsequently,we performed human experiments with seven able-bodied people(six males and one female).The promising results demonstrate that our classification accuracy can reach 99.2%under six different terrains and that it can smoothly switch the force–assist curve in different terrains to better adapt to the complex terrain and improve the walking effect.The aforementioned terrain recognition algorithms and force–assist strategies may positively influence the study of soft exosuit,powered prostheses,and orthotics.
