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学者姓名：吴海彬
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Abstract ：
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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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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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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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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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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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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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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本发明提出一种基于3D点云的焊缝识别与机器人焊缝跟踪方法，包括以下步骤：步骤S1、利用结构光相机获取点云数据，通过手眼标定将点云数据从相机坐标系转换到相机坐标系；步骤S2、对点云数据进行点云预处理，提取出焊件点云数据；步骤S3、焊缝识别，通过RANSAC算法拟合平面，KD‑tree进行最邻域搜索，从焊件点云数据获取焊缝点云数据；步骤S4、轨迹规划，利用D‑H参数法进行机器人运动学建模，利用RANSAC拟合直线获取整条焊缝的空间直线；根据直线插补算法在焊缝空间直线上插值取点，利用运动学逆解求出各个插值点的位姿，将各个点的位姿信息发送给机器人，机器人根据各个点的位姿运动来完成焊缝跟踪；本发明具有识别准确，运算速度快等优点。
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| GB/T 7714 | 吴海彬 , 薛坤斌 . 一种基于3D点云的焊缝识别与机器人焊缝跟踪方法 : CN202210361871.0[P]. | 2022-04-07 00:00:00 . |
| MLA | 吴海彬 et al. "一种基于3D点云的焊缝识别与机器人焊缝跟踪方法" : CN202210361871.0. | 2022-04-07 00:00:00 . |
| APA | 吴海彬 , 薛坤斌 . 一种基于3D点云的焊缝识别与机器人焊缝跟踪方法 : CN202210361871.0. | 2022-04-07 00:00:00 . |
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本发明涉及一种线性压阻式触觉传感器及其制备方法，该传感器包括至少一个触觉传感单元，所述触觉传感单元包括压力感知层与下电极层，所述下电极层包括以叉指方式并列分布的电极A和电极B；所述压力感知层由凸起结构朝下的PDMS凸起和覆盖在PDMS凸起表面上的PDMS/MWCNTs复合材料组成，所述压力感知层的上表面为平面，下表面分布有至少一个凸起；所述凸起为带顶圆角的圆锥结构，其顶点与所述下电极层接触；所述压力感知层受压时，所述凸起产生形变，导致凸起与下电极层接触面积发生线性改变。该传感器具有良好的线性响应和灵敏度，且制备工艺简单，制造成本低。
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| GB/T 7714 | 吴海彬 , 林科金 . 一种线性压阻式触觉传感器及其制备方法 : CN202210367483.3[P]. | 2022-04-08 00:00:00 . |
| MLA | 吴海彬 et al. "一种线性压阻式触觉传感器及其制备方法" : CN202210367483.3. | 2022-04-08 00:00:00 . |
| APA | 吴海彬 , 林科金 . 一种线性压阻式触觉传感器及其制备方法 : CN202210367483.3. | 2022-04-08 00:00:00 . |
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本发明涉及一种基于工业机器人的平面图案的曲面喷涂方法及系统，该方法包括以下步骤：a、基于边界检测算法和线状要素抽稀算法提取平面图案的边缘轨迹点；b、基于螺旋区域填充算法和涂层沉积速率模型规划区域喷涂轨迹；c、基于STL三角网格完成曲面模型的读取与喷涂轨迹点投影；d、将轨迹点按喷涂高度向曲面法向偏移得到最终的曲面喷涂轨迹并生成相应的机器人运动程序；e、将工件放置在机器人运动空间内，建立相应的工件坐标系，安装机器人末端执行器，建立工具坐标系，在机器人仿真软件中验证轨迹的可行性后，上传生成的机器人控制程序，并完成最终的喷涂任务。该方法及系统有利于提高喷涂的精度、质量和效率，操作便捷、安全。
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| GB/T 7714 | 吴海彬 , 周璇 , 张丽萍 . 一种基于工业机器人的平面图案的曲面喷涂方法及系统 : CN202310386258.9[P]. | 2023-04-12 00:00:00 . |
| MLA | 吴海彬 et al. "一种基于工业机器人的平面图案的曲面喷涂方法及系统" : CN202310386258.9. | 2023-04-12 00:00:00 . |
| APA | 吴海彬 , 周璇 , 张丽萍 . 一种基于工业机器人的平面图案的曲面喷涂方法及系统 : CN202310386258.9. | 2023-04-12 00:00:00 . |
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