What are the advantages of human-robot collaboration robots? It can make use of human expertise and machine expertise. Machines can tirelessly perform physical operations, logical reasoning and thinking, and people can make judgments and decisions in complex, unknown environments. Collaboration is reflected in the interaction of information, through physical contact between people and machines, and through human-machine interfaces. What is the basic operation of this human-robot cooperative robot? The first is dual-arm operation; the second is that people can guide the machine to operate; the third is to consider the safety of people and machines, because it is to work together in the same narrow environment; the fourth is the contact we expect. It is between the robot and the environment, between the two arms of the robot, and between the robot and the human. Among them, the fourth operation is much more complicated than the general industrial robots now applied, so we should comprehensively design from the system's regulations, operations, hardware, control and software. Robotics theory goes commercial The outbreak of robotics theory and practice started in the 1980s. It includes control methods for inverse kinematics and dynamics, stability theory, force control, and machine vision. These technologies have been successfully applied to space robots. We did a smart arm and launched it on track in 2008. Now it is the only smart arm on the air track that runs, and it is also a two-armed robot, mainly engaged in contact operations at the International Space Station. The robot was very successful in applying force control measures with a delay of almost four seconds. It completed all the parts replacement tasks required by the International Space Station and in 2013 it first filled the satellite with 1.3 liters of fuel. Refueling is a dream for all countries in the world to complete. The Canadian government also used a smart robot as a background pattern on banknotes issued in 2013, which is enough to illustrate the importance of dexterous robots. Since 2010, our team has applied space robot technology to medical care. The first thing we did was to use a robot with eight joints to perform minor trauma surgery at the Children's Hospital of Toronto. This is the first time in the world that we have successfully implemented the camera to move inside the human's abdomen and guide the doctor to find the wound surface. The second thing is to use a NeuroArm II dual-arm robot under the condition of MRI, and the surgeon performs surgery on the patient's brain. In these two projects, a fully adaptive dynamic compensation control method is used, which greatly improves the accuracy of the robot. Since the 1990s, new developments have focused on hardware and communications. This has given robots better technical conditions and the commercialization of collaborative robots, which will have a great impact on human life and industry. We can predict that this will have a major impact on humankind like the Cell Phone and the Internet in the past. People-oriented and guidance The Robot Machinery System Laboratory of Peking University has developed a robotic product "WEE" over the past year or so. "WEE" is a dual-arm robot consisting of two single arms, each of which can be operated independently. Each single arm consists of seven joints. The dual-arm robot can have a load of five kilograms. Humans and robots can co-exist in the same environment. The user can select his desired operating mode through the interface. The robot is modular, which is modular in the machine, electrically modular, and modular in control, so it can be extended to twenty joints without the need for systems. Do a redesign. What are the technical requirements for human-robot collaboration robots? What kind of performance is the designer's desire? This operation is divided into three areas of green, yellow and orange. The green area is a general robot that can move freely. The yellow area means that you are already close to people. At this time, you must be careful about people hurting people. The orange area is the contact area where the machine and the person come into contact and perform the tasks it needs to complete. We do this by damping controls such as joint control and mission control. Such damping is adjusted according to the requirements of different regions, and we want to have a seamless connection, that is, from the different regions at the end of the robot. mobile. We also hope that the end-resistance and stiffness of the robot are completely coupled. In other words, if you push it at its end, in which direction the force is applied, the end of the robot will move in which direction. We hope that the power of the robot and human contact is very small. If the manipulator advances at a speed of two centimeters per second, this speed is sufficient for contact operation. The force we detect will not be greater than five newtons. This is much higher than the average human-robot collaboration robot has reached, even an order of magnitude higher. The robot should prevent possible contact and collision between human and robot arm. The operation of the arms is like a person. The arms are not operated independently. If the right arm is operated, the left arm can be assisted according to the operating conditions of the right arm. We hope that people, whether they are arms or arms, must be guided and led by others. What kind of performance do I want for a dual-arm robot? Its intensity should be small and its stiffness should be even. Can it reach its ultimate position? That is, performance reaches a critical point. Our two-armed robots have done this and have achieved the fullest of feasts by minimizing efforts. The theory should have an indicator of the dexterity of the collaborative robot, and this indicator is different from the dexterity indicator of the common manipulator used in the past. Our control is a control method that combines the time trajectory and the state trajectory, with one arm following the other. We must maximize the bandwidth of the closed-loop system and use the user to guide the operation of the single-arm and two-armed systems, the coordinated operation between the two arms, and the coordinated operation between the robot and the human. This focal point has been changed from one end of one robotic arm to the end of two robotic arms, allowing the robotic arm to come into contact with the human hand, in addition to the unpredictable human-robot contact. WEE Control is the force acting on the end of the robot. It introduces the movement of the robot arm. It must satisfy two conditions: first, the arm must be very soft; The damping of the arm is completely even. Both of us have done it. The all-round application of human-robot collaborative robots So, what is the application of this robot system? We went to Shenzhen and other places to do a very close investigation, when I saw these applications are very emotional, because our application of the robot is really just a small corner in a large area, so many applications can be used Robots, especially human-robot robots, do this. We learned from a company named Wave that they are doing filters, which is to adjust the height of the bolts so that the output power of the bolts meets certain needs. So, how is it now generally done? It is the worker who is in two hands. This labor intensity is very high, and the wages of workers must be paid very high. Then, we use a dual-arm robot instead of such a test line to introduce intelligence into it. We don't need to look at the fluorescent screen again. We can rely on the system to determine how the robot should adjust the height of the bolt. There is a key here. When the height of the first bolt is adjusted and the bolts are moved to the next few bolts, the frequency conversion of the first bolt is wrong again. For the robot, it can be done again. I hope to pass this way. The introduction of intelligent robots can bring more improvements to the Shenzhen 3C production line. The next decade There are also many applications of robots that are not actually known. Only the two-armed robot can handle such flexible loads. In other words, can a rope and a cloth be used, and can a robot arm do it? The two arms are easy. In addition, it is a modular structure. We can make twenty-joint serpentine robots. Since robots have great redundancy, even if an external force is applied to the robot body, the six degrees of freedom in the front can be Keep it completely unchanged. Our control technology can be used to improve the bottleneck of traditional robots today, such as the welding robot's jitter. If the acceleration is compensated by the model, these problems can be solved. Our next dream is to quickly lighten the WEE to do direct contact with people. Nowadays, most of the applications of robots for service are languages and entertainment. If we do direct contact, we will accumulate technical capabilities in the control of strength. WEE will be a good platform, especially when it is used as a medical robot, its accuracy and dexterity can be demonstrated by more arms. Therefore, we have to launch a brand of China’s independent property to counteract Chinese robots. The market is completely occupied by foreign brands, which will be a very important thing in the next decade.
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