【标题】Decentralized variable impedance control of modular robot manipulators with physical human-robot interaction using Gaussian process-based motion intention estimation
【参考中译】使用基于高斯过程的运动意图估计的具有物理人与机器人交互的模块化机器人机械手的分散变阻抗控制
【类型】 期刊
【关键词】 Variable impedance control; Modular robot manipulators; Motion intention estimation; Decentralized control; Physical human-robot interaction
【参考中译】 可变阻抗控制;模块化机器人机械手;运动意图估计;分散控制;物理人与机器人交互
【作者】 Bo Dong; Shijie Li; Tianjiao An; Yiming Cui; Xinye Zhu
【摘要】 This paper proposes a decentralized variable impedance control method of modular robot manipulators (MRM) with physical human-robot interaction (pHRI) using Gaussian process-based motion intention estimation. The dynamic model of MRM subsystem is established by using joint torque feedback (JTF) technique. Human limb dynamic model is regarded as mechanical impedance model, and human motion intention is estimated online based on Gaussian process. A variable impedance control method is proposed to make the MRM comply with human motion intention in the process of pHRI. A decentralized sliding mode control strategy is designed to achieve high performance position tracking and compensate the uncertainty of the controller. Based on Lyapunov theory, the uniform ultimately bounded of tracking error of each joint is proved. Finally, the effectiveness of the proposed control method under pHRI is verified by experiments. The experimental results show that the proposed method reduces the position tracking error by ～10% and the interaction force by ～20% compared with the existing control methods.
【参考中译】 提出了一种基于高斯过程运动意图估计的模块化机器人机械手(MRM)的分散变阻抗控制方法。利用联合力矩反馈技术建立了磁流变子系统的动力学模型。将人体肢体动力学模型视为机械阻抗模型，基于高斯过程在线估计人体运动意图。提出了一种变阻抗控制方法，使磁流变液在PHRI过程中符合人体运动意图。为了实现高性能的位置跟踪和补偿控制器的不确定性，设计了一种分散滑模控制策略。基于李亚普诺夫理论，证明了各关节跟踪误差的一致终极有界。最后，通过实验验证了该控制方法在PHRI下的有效性。实验结果表明，与已有的控制方法相比，该方法的位置跟踪误差减小了10%，相互作用力减小了20%。
【来源】 Neural Computing & Applications 2024, vol.36, no.12
【入库时间】 2024/6/3
【标题】Robotics speeds connectivity between medical professionals
【参考中译】机器人技术加快医疗专业人员之间的连接
【作者】 Gwyneth Astles
【摘要】 French robotic platform developers Robocath, specialising in solutions for treating cardiovascular diseases were pivotal to a medical procedure carried out simultaneously in Bejing and Urumqi 1,700 miles (2,800km) away. Two interventional cardiologists, Professor Yundai Chen in Beijing and Professor Yining Yang in Urumqi, the capital of the Xinjiang Uygur Autonomous Region, performed the First-in-Human robotic coronary angioplasty entirely using a 5G connection with the R-One robotic platform.
【参考中译】 法国机器人平台开发商Robocath专门开发心血管疾病治疗解决方案，对于在1，700英里（2，800公里）外的北京和乌鲁木齐同时进行的医疗程序至关重要。两位介入心脏病专家，北京的陈云代教授和新疆维吾尔自治区首府乌鲁木齐的杨亦宁教授，完全使用与R-One机器人平台的5G连接进行了首个人类机器人冠状动脉成形术。
【来源】 International labmate 2024, vol.49, no.1
【标题】Recycleye wins Fanuc award for innovation and extends robot deal
【参考中译】Repubcleye荣获Fanuc创新奖并延长机器人交易
【作者】 Colin Granger
【摘要】 Coventry-based Fanuc UK Ltd (www.fanuc.eu) says it has underlined its commitment to AI-powered robotic waste picking by extending its exclusive UK deal with the company Recycleye - and recognised this tech innovator's achievements at the Fanuc Global Partner Awards. This event saw Recycleye win one of seven Global Partner Awards for Innovation; and the extension to their exclusivity agreement means that Recycleye remains the only UK company that Fanuc UK supplies for recycling applications.
【参考中译】 总部位于考文垂的Fanuc UK Ltd（www.fanuc.eu）表示，该公司已通过延长与Inspectleye公司在英国的独家协议，强调了其对人工智能驱动的机器人垃圾拾取的承诺，并在Fanuc全球合作伙伴奖上表彰了这家技术创新者的成就。在此次活动中，Delivercleye赢得了七项全球创新合作伙伴奖之一;独家协议的延长意味着Delivercleye仍然是Fanuc UK为回收应用提供服务的唯一一家英国公司。
【来源】 Machinery Market 2024