Human-robot interaction in industry 4.0 based on an internet of things real-time gesture control system

2020 ◽  
pp. 1-17
Author(s):  
Luis Roda-Sanchez ◽  
Teresa Olivares ◽  
Celia Garrido-Hidalgo ◽  
José Luis de la Vara ◽  
Antonio Fernández-Caballero
Keyword(s):  
Control System ◽  
Internet Of Things ◽  
Real Time ◽  
Industry 4.0 ◽  
Human Robot Interaction ◽  
Robot Interaction ◽  
Gesture Control

scholarly journals Force/position control of a robot manipulator for human-robot interaction

2016 ◽  
Vol 20 (suppl. 2) ◽  
pp. 537-548 ◽  
Author(s):  
Paramin Neranon ◽  
Robert Bicker
Keyword(s):  
Control System ◽  
Real Time ◽  
Position Control ◽  
Force Measurement ◽  
Robot Manipulator ◽  
Robotic System ◽  
Human Robot Interaction ◽  
Robot Interaction ◽  
Integral Control ◽  
Proportional Integral

With regard to both human and robot capabilities, human-robot interaction provides several benefits, and this will be significantly developed and implemented. This work focuses on the development of real-time external force/position control used for human-robot interaction. The force-controlled robotic system integrated with proportional integral control was performed and evaluated to ensure its reliably and timely operational characteristics, in which appropriate proportional integral gains were experimentally adopted using a set of virtual crank-turning tests. The designed robotic system is made up of a robot manipulator arm, an ATI Gamma multi-axis force/torque sensor and a real-time external PC based control system. A proportional integral controller has been developed to provide stable and robust force control on unknown environmental stiffness and motion. To quantify its effectiveness, the robotic system has been verified through a comprehensive set of experiments, in which force measurement and ALTER real-time path control systems were evaluated. In summary, the results indicated satisfactorily stable performance of the robot force/position control system. The gain tuning for proportional plus integral control algorithm was successfully implemented. It can be reported that the best performance as specified by the error root mean square method of the radial force is observed with proportional and integral gains of 0.10 and 0.005 respectively.

Open-Source Real-Time Robot Operation and Control System for Highly Dynamic, Modular Machines

2013 ◽  
Author(s):  
Andrew Peekema ◽  
Daniel Renjewski ◽  
Jonathan Hurst
Keyword(s):  
Control System ◽  
Open Source ◽  
Real Time ◽  
High Frequency ◽  
Performance Test ◽  
Frequency Control ◽  
Human Robot Interaction ◽  
Sensors And Actuators ◽  
Key Innovation ◽  
Hard Real Time

The control system of a highly dynamic robot requires the ability to respond quickly to changes in the robot’s state. This type of system is needed in varying fields such as dynamic locomotion, multicopter control, and human-robot interaction. Robots in these fields require software and hardware capable of hard real-time, high frequency control. In addition, the application outlined in this paper requires modular components, remote guidance, and mobile control. The described system integrates a computer on the robot for running a control algorithm, a bus for communicating with microcontrollers connected to sensors and actuators, and a remote user interface for interacting with the robot. Current commercial solutions can be expensive, and open source solutions are often time consuming. The key innovation described in this paper is the building of a control system from existing — mostly open source — components that can provide realtime, high frequency control of the robot. This paper covers the development of such a control system based on ROS, OROCOS, and EtherCAT, its implementation on a dynamic bipedal robot, and system performance test results.

Sectional Data Acquisition and Control System for Solar Street Lamps Based on Internet of Things

2013 ◽  
Vol 773 ◽  
pp. 148-153 ◽  
Author(s):  
Juan Zhou ◽  
Bing Yan Chen ◽  
Meng Ni Zhang ◽  
Ying Ying Tang
Keyword(s):  
Control System ◽  
Internet Of Things ◽  
Data Acquisition ◽  
Real Time ◽  
Network Flow ◽  
Short Interval ◽  
Management Problem ◽  
Time Data ◽  
Control Centre ◽  
And Control

Aiming at the management problem of real-time data created while intelligent solar street lamps working, sectional data acquisition and control system based on internet of things is introduced in the paper. Communication protocol with unified form and flexible function is designed in the system, and communication address is composed of sectional address and subsection address. Three-level data structure is built in the polling algorithm to trace real-time state of lamps and to detect malfunction in time, which is suitable for sectional lamps management characteristics. The system reflects necessary statistic data and exception information to remote control centre through GPRS to short interval expend on transmission and procession and save network flow and system energy. The result shows the system brings improved management affection and accords with the idea of energy-saving and environmental protection.

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