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学者姓名：吴海彬
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Abstract ：
针对机器人示教编程过程中使用高斯混合模型(GMM)规划运动轨迹时存在的高斯分布个数难以选择、复现轨迹精度较低等问题,提出了一种复合的机器人运动轨迹学习策略.该策略包含动态时间规整(DTW)算法、高斯混合模型与道格拉斯-普克(DP)算法.首先,针对示教过程中采集的多条轨迹在时间长度上存在差异的问题,采用DTW 算法来统一示教轨迹在时域上的变化.其次,使用 GMM 算法对示教轨迹的特征进行提取,并利用高斯混合回归(GMR)算法将其重构为复现轨迹.在这个过程中采用DP算法来预估GMM算法的关键参数高斯分布的数量,与传统方法相比,能够简单直观地得到相对准确的参数值.利用 DP 算法对复现轨迹的数据点进行稀疏化并优化,不仅确保了机器人最终运动轨迹的精度,而且大幅减少了最终轨迹数据点的数量.最后,进行了不同形状的模拟焊接轨迹学习规划实验.结果表明:经由 DTW 对齐后的示教轨迹具有更加明显的运动特征,经过 GMM-GMR 学习输出的复现轨迹具有良好的表征结果;在使用GMM-GMR算法学习示教轨迹的过程中,采用DP算法可以有效预估高斯分布个数;经过DP算法稀疏化并优化的最终轨迹的平均位置误差均在 0.500 mm以内,其最大误差可以控制在0.800 mm以内,可以满足焊接轨迹规划的精度要求,验证了该策略的有效性和优越性.
Keyword ：
动态时间规整 动态时间规整 工业机器人 工业机器人 示教编程 示教编程 轨迹复现 轨迹复现 道格拉斯-普克算法 道格拉斯-普克算法 高斯混合模型 高斯混合模型
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| GB/T 7714 | 肖洒 , 陈旭阳 , 叶锦华 et al. 一种基于DTW-DP-GMM的工业机器人轨迹学习策略 [J]. | 天津大学学报（自然科学与工程技术版） , 2025 , 58 (1) : 68-80 . |
| MLA | 肖洒 et al. "一种基于DTW-DP-GMM的工业机器人轨迹学习策略" . | 天津大学学报（自然科学与工程技术版） 58 . 1 (2025) : 68-80 . |
| APA | 肖洒 , 陈旭阳 , 叶锦华 , 吴海彬 . 一种基于DTW-DP-GMM的工业机器人轨迹学习策略 . | 天津大学学报（自然科学与工程技术版） , 2025 , 58 (1) , 68-80 . |
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提出利用肢体动作引导工业机器人运动的新方法，肢体动作包括手势和四肢的运动，利用数据手套采集手势信息，利用惯性传感器采集四肢的运动信息。首先，基于模板匹配法对静态手势进行识别，通过支持向量机(SVM)算法对肢体动作进行识别；其次，对工业机器人进行运动学建模，构建肢体动作与工业机器人运动类型之间的映射关系；最后，搭建基于肢体动作引导工业机器人运动的实验系统。实验结果表明：通过肢体动作可以方便、高效地引导工业机器人按照操作者意图进行运动，定义的14条肢体命令，可满足大多数工业场景的需求。
Keyword ：
工业机器人 工业机器人 快速示教 快速示教 手势识别 手势识别 肢体运动识别 肢体运动识别
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| GB/T 7714 | 邓伟鑫 , 卢忱 , 宋晨阳 et al. 通过肢体动作引导工业机器人运动 [J]. | 传感器与微系统 , 2024 , 43 (06) : 164-168 . |
| MLA | 邓伟鑫 et al. "通过肢体动作引导工业机器人运动" . | 传感器与微系统 43 . 06 (2024) : 164-168 . |
| APA | 邓伟鑫 , 卢忱 , 宋晨阳 , 许金山 , 吴海彬 . 通过肢体动作引导工业机器人运动 . | 传感器与微系统 , 2024 , 43 (06) , 164-168 . |
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PurposeImitation learning is a powerful tool for planning the trajectory of robotic end-effectors in Cartesian space. Present methods can adapt the trajectory to the obstacle; however, the solutions may not always satisfy users, whereas it is hard for a nonexpert user to teach the robot to avoid obstacles in time as he/she wishes through demonstrations. This paper aims to address the above problem by proposing an approach that combines human supervision with the kernelized movement primitives (KMP) model.Design/methodology/approachThis approach first extracts the reference database used to train KMP from demonstrations by using Gaussian mixture model and Gaussian mixture regression. Subsequently, KMP is used to modulate the trajectory of robotic end-effectors in real time based on feedback from its interaction with humans to avoid obstacles, which benefits from a novel reference database update strategy. The user can test different obstacle avoidance trajectories in the current task until a satisfactory solution is found.FindingsExperiments performed with the KUKA cobot for obstacle avoidance show that this approach can adapt the trajectories of the robotic end-effector to the user's wishes in real time, including trajectories that the robot has already passed and has not yet passed. Simulation comparisons also show that it exhibits better performance than KMP with the original reference database update strategy.Originality/valueAn interactive learning approach based on KMP is proposed and verified, which not only enables users to plan the trajectory of robotic end-effectors for obstacle avoidance more conveniently and efficiently but also provides an effective idea for accomplishing interactive learning tasks under constraints.
Keyword ：
Kernelized movement primitives (KMP) Kernelized movement primitives (KMP) Obstacle avoidance Obstacle avoidance Physical human-robot interaction Physical human-robot interaction Trajectory adaptation Trajectory adaptation
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| GB/T 7714 | Xiao, Sa , Chen, Xuyang , Lu, Yuankai et al. A KMP-based interactive learning approach for robot trajectory adaptation with obstacle avoidance [J]. | INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION , 2024 , 51 (2) : 326-339 . |
| MLA | Xiao, Sa et al. "A KMP-based interactive learning approach for robot trajectory adaptation with obstacle avoidance" . | INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION 51 . 2 (2024) : 326-339 . |
| APA | Xiao, Sa , Chen, Xuyang , Lu, Yuankai , Ye, Jinhua , Wu, Haibin . A KMP-based interactive learning approach for robot trajectory adaptation with obstacle avoidance . | INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION , 2024 , 51 (2) , 326-339 . |
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PurposePolishing is a crucial process in mechanical manufacturing. The use of industrial robots to automate polishing is an inevitable trend in future developments. However, current robotic polishing tools are too large to reach inside deep holes or grooves in workpieces. This study aims to use a pneumatic artificial muscle (PAM) as the actuator and designs a force-controlled end-effector to reach inside the deep and narrow areas in the workpiece.Design/methodology/approachThis approach first addresses the challenge of converting the tensile force generated by the PAM into pushing force through mechanism design. In addition, a dynamics model of the end-effector was established based on the three-element model of the PAM. A combined control strategy was proposed to enhance force control accuracy and adaptability during the polishing process.FindingsExperiments were conducted on a robotic platform equipped with the proposed end-effector. The experimental results demonstrate that the end-effector can polish the inner end face of holes or grooves with diameters as small as 80 mm and depths reaching 200 mm. By implementing the combined control strategies, the target force tracking error was reduced by 48.66% compared to the use of the PID controller alone.Originality/valueA new force-controlled end-effector based on the PAM is designed for robotic polishing. According to the experimental result, this end-effector can polish not only the outer surfaces of the workpiece but also the internal surfaces of workpieces with deep holes or grooves specifically. By using the combined control strategy proposed in this paper, the end-effector significantly improves force control precision and polishing quality.
Keyword ：
Deep holes or grooves polishing Deep holes or grooves polishing Force-controlled end-effector Force-controlled end-effector Industrial robot Industrial robot Pneumatic artificial muscle Pneumatic artificial muscle
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| GB/T 7714 | Wu, Jianxuan , Song, Chenyang , Xiao, Sa et al. Design of a force-controlled end-effector based on the pneumatic artificial muscle for robotic polishing [J]. | INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION , 2024 . |
| MLA | Wu, Jianxuan et al. "Design of a force-controlled end-effector based on the pneumatic artificial muscle for robotic polishing" . | INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION (2024) . |
| APA | Wu, Jianxuan , Song, Chenyang , Xiao, Sa , Lu, Yuankai , Wu, Haibin . Design of a force-controlled end-effector based on the pneumatic artificial muscle for robotic polishing . | INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION , 2024 . |
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工业机器人在制造业已得到广泛应用,快速、准确、自动获得目标运动点位和轨迹可以大幅提升工业机器人编程与作业效率,并可应对变化的作业环境.以自动化制造常见的平面类工件角接结合缝自动识别与跟踪为应用场景,提出基于3D点云的工件特征识别与工业机器人运动跟踪系统.通过结构光相机获得3D点云,对点云数据进行预处理、滤波、工件平面拟合、平面交叉获得结合缝点云,以及对结合缝点云进行必要的插值和顺滑处理,最终获得结合缝空间分布轨迹.再把该轨迹信息经过坐标变换和姿态补齐后,提供给工业机器人实现轨迹跟踪.实验结果表明,系统可以实现结合缝作为工件特征的自动识别与工业机器人自动运动跟踪功能.结合缝识别的路径点与实际结合缝轨迹平均误差不超过1.62 mm.目标特征的自动识别与跟踪可以大幅提升工业机器人适应多品种小批量生产的能力.
Keyword ：
工业机器人 工业机器人 点云数据处理 点云数据处理 特征识别 特征识别 轨迹规划 轨迹规划
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| GB/T 7714 | 王凤伟 , 虞增益 , 薛坤斌 et al. 工件3D点云特征识别与工业机器人运动跟踪 [J]. | 制造业自动化 , 2024 , 46 (10) : 205-212 . |
| MLA | 王凤伟 et al. "工件3D点云特征识别与工业机器人运动跟踪" . | 制造业自动化 46 . 10 (2024) : 205-212 . |
| APA | 王凤伟 , 虞增益 , 薛坤斌 , 吴海彬 . 工件3D点云特征识别与工业机器人运动跟踪 . | 制造业自动化 , 2024 , 46 (10) , 205-212 . |
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Micro terminals are often used in every laptop, mobile, and other electrical product. It is challenging to automatically buckle the terminal head to its terminal base during manufacturing because of trouble in accurate positioning and gripping. A double-robots collaborative assembly system is developed to buckle millimeter-scale terminals in three-dimensional space. Robot 1 takes the terminal head horizontally by grasping its flexible line with a customized clamp, including two fingers. Robot 2 presses the aligned terminal head through a force control strategy to ensure that the terminal head and the terminal base can complete buckling accurately, even if there is a certain deviation in the vertical direction. There are two cameras to be used in the system. A horizontally placed camera is used to detect and calculate the angle between the terminal head and the horizontal plane. The angle data will drive robot 1 to make the terminal end face parallel to the horizontal plane to complete the pose correction of the terminal head. Another camera is vertically fixed at the end of industrial robot 1 and used to detect and calculate the position deviation between the terminal head and the terminal base. The position deviation will drive robot 1 to align the terminal head with the terminal base to complete the position correction. The YOLOv3, least square, and feature extraction algorithms are used in image processing. The accuracy of the YOLOv3 target detection model trained by self-made data set can reach more than 95% under different conditions. The detection period is within 65 ms. The experimental results show that the terminal assembly system designed in this paper has excellent reliability and assembly success rate. It also has a significant reference value for other terminals' automatic buckling assemblies.
Keyword ：
automatic assembly automatic assembly impedance control impedance control Terminals buckling Terminals buckling visual measurement visual measurement visual positioning visual positioning
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| GB/T 7714 | Jiang, Jinchao , Zhang, Junxin , Ye, Jinhua et al. Automatic buckling system of micro terminals combined vision and force signals [J]. | MEASUREMENT & CONTROL , 2023 , 56 (5-6) : 1099-1113 . |
| MLA | Jiang, Jinchao et al. "Automatic buckling system of micro terminals combined vision and force signals" . | MEASUREMENT & CONTROL 56 . 5-6 (2023) : 1099-1113 . |
| APA | Jiang, Jinchao , Zhang, Junxin , Ye, Jinhua , Zhou, Wenbo , Chen, Wei , Wu, Haibin . Automatic buckling system of micro terminals combined vision and force signals . | MEASUREMENT & CONTROL , 2023 , 56 (5-6) , 1099-1113 . |
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Aiming at the problems of the robot motion along slot was constrained by the combination of multi-directional positions and forces, a force and position hybrid guidance strategy was proposed, and an ADRC was designed based on the impedance model to optimize the force control loop of the strategy. Then, the ADRC was improved based on the double fuzzy structure, and a switching variable universe fuzzy ADRC was obtained, so as to enhance the adaptability of the industrial robots to the unknown environment in the hybrid control of force and position. Finally, the performance of the proposed algorithm was simulated, and the experiments were carried out by taking the parallel slot assembly of mobile phone RFC radio frequency) line as an example. Simulation and experimental results show that compared with the general control method, the proposed control strategy has better force and position hybrid control performance, and may be better applied to the along slot motion of industrial robots. © 2023 China Mechanical Engineering Magazine Office. All rights reserved.
Keyword ：
automatic disturbance rejection controller(ADRC) automatic disturbance rejection controller(ADRC) force and position hybrid control force and position hybrid control industrial robot industrial robot motion along slot motion along slot variable universe fuzzy control variable universe fuzzy control
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| GB/T 7714 | Zhang, J. , Chen, W. , Huang, S. et al. Control Strategies for Industrial Robot Motion along Slot Based on Force and Position Hybrid Guidances; [基于力位混合导向的工业机器人顺槽运动控制策略] [J]. | China Mechanical Engineering , 2023 , 34 (6) : 712-719,726 . |
| MLA | Zhang, J. et al. "Control Strategies for Industrial Robot Motion along Slot Based on Force and Position Hybrid Guidances; [基于力位混合导向的工业机器人顺槽运动控制策略]" . | China Mechanical Engineering 34 . 6 (2023) : 712-719,726 . |
| APA | Zhang, J. , Chen, W. , Huang, S. , Wu, H. . Control Strategies for Industrial Robot Motion along Slot Based on Force and Position Hybrid Guidances; [基于力位混合导向的工业机器人顺槽运动控制策略] . | China Mechanical Engineering , 2023 , 34 (6) , 712-719,726 . |
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针对工业机器人顺槽运动时受到多方向位置与力的混合约束问题,提出一种力位混合导向策略,并基于阻抗模型设计自抗扰控制器(ADRC)对该策略的力控制回路进行优化.在此基础上,基于双模糊结构对ADRC进行改进,得到一种开关式变论域模糊ADRC,以此增强工业机器人在进行力位混合控制时对未知环境的适应能力.最后,对所提出的算法进行性能仿真,并以手机射频线的顺槽装配为例进行实验.仿真和实验结果表明,相对于常规的控制方法,所提出的控制策略具备更加良好的力位混合控制性能,能够更好地应用于工业机器人的顺槽运动控制.
Keyword ：
力位混合控制器 力位混合控制器 变论域模糊控制 变论域模糊控制 工业机器人 工业机器人 自抗扰控制器 自抗扰控制器 顺槽运动 顺槽运动
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| GB/T 7714 | 张俊鑫 , 陈威 , 黄斯凯 et al. 基于力位混合导向的工业机器人顺槽运动控制策略 [J]. | 中国机械工程 , 2023 , 34 (6) : 712-719,726 . |
| MLA | 张俊鑫 et al. "基于力位混合导向的工业机器人顺槽运动控制策略" . | 中国机械工程 34 . 6 (2023) : 712-719,726 . |
| APA | 张俊鑫 , 陈威 , 黄斯凯 , 吴海彬 . 基于力位混合导向的工业机器人顺槽运动控制策略 . | 中国机械工程 , 2023 , 34 (6) , 712-719,726 . |
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Flexible tactile sensors with high sensitivity typically suffer from a dramatically reduces pressure resolution with increasing pressure, resulting in narrow linear ranges and limited application scenarios. Herein, a capacitive tactile sensor based on cone-shaped electrodes (CSE) that can maintain high sensitivity over a broad linearity range is proposed. The linear response comes from the novel sensing mechanism based on the change in the facing electrode area and the rational design of the conical architecture. Finite element analysis (FEA) confirms that the interfacial contact area between the elastic electrodes and the dielectric layer can respond linearly to pressure over a broad spectrum. Based on this strategy, the fabricated sensors perform a high sensitivity (0.23 kPa-1) and superior linearity (R2 = 0.999) across a wide pressure range of up to 130 kPa. The sensors demonstrate several key features, such as good repeatability, fast response speed, low detection limit, and high durability. These attributes enable the successful use of the sensors for monitoring artery pulses and providing weighting capabilities to robots, showing promising potential for applications in daily health monitoring and human-machine interaction. A flexible capacitive tactile sensor based on cone-shaped electrodes is hereby proposed. The sensor can maintain both high sensitivity and wide linearity range. The fabricated sensor samples being conformally attached to the wrist enable arterial pulse monitoring, and can also be integrated into electric hand jaws for linear weight sensing.image
Keyword ：
cone-shaped electrodes cone-shaped electrodes contact area contact area finite element analysis finite element analysis flexible tactile sensors flexible tactile sensors linear response linear response
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| GB/T 7714 | Chen, Liting , Zheng, Bingying , Ye, Jinhua et al. Cone-Shaped Electrodes for Capacitive Tactile Sensors with High Sensitivity and Broad Linearity Range [J]. | ADVANCED MATERIALS TECHNOLOGIES , 2023 , 8 (21) . |
| MLA | Chen, Liting et al. "Cone-Shaped Electrodes for Capacitive Tactile Sensors with High Sensitivity and Broad Linearity Range" . | ADVANCED MATERIALS TECHNOLOGIES 8 . 21 (2023) . |
| APA | Chen, Liting , Zheng, Bingying , Ye, Jinhua , Wu, Haibin . Cone-Shaped Electrodes for Capacitive Tactile Sensors with High Sensitivity and Broad Linearity Range . | ADVANCED MATERIALS TECHNOLOGIES , 2023 , 8 (21) . |
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工业机器人的示教编程目前普遍存在操作复杂、专业性强、效率低及易产生意外碰撞等问题,为了提升工业机器人示教编程效率及安全性,将在线示教和离线示教的优点有机结合,提出了一种基于增强现实技术的工业机器人引导示教方法.首先,建立了机器人的D-H模型并对其正/逆运动学进行分析求解,将其解应用到虚拟机器人的运动控制中,使虚拟机器人能够符合实际机器人的控制方式及运动形式.其次,利用增强现实技术以呈现出的虚拟机器人代替实际机器人进行示教操作.该方法应用了更为自然的手势交互方式,降低了操作者的专业性要求并提高了示教效率.最后,通过模拟液晶面板涂胶的示教实验,验证了利用增强现实技术进行工业机器人示教编程的有效性和可行性.
Keyword ：
增强现实 增强现实 工业机器人 工业机器人 机器人示教 机器人示教 自然人机交互 自然人机交互
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| GB/T 7714 | 彭爱泉 , 卓建华 , 蔡孝锦 et al. 基于增强现实技术的工业机器人引导示教方法 [J]. | 现代制造工程 , 2023 , (8) : 36-43 . |
| MLA | 彭爱泉 et al. "基于增强现实技术的工业机器人引导示教方法" . | 现代制造工程 8 (2023) : 36-43 . |
| APA | 彭爱泉 , 卓建华 , 蔡孝锦 , 吴海彬 . 基于增强现实技术的工业机器人引导示教方法 . | 现代制造工程 , 2023 , (8) , 36-43 . |
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