Research on Safety Control Technology for Dual Robots Based on Kinematic Models

Qiang Chen

doi:doi:10.11648/j.acis.20241201.12

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Research on Safety Control Technology for Dual Robots Based on Kinematic Models

Qiang Chen^*

Published in Automation, Control and Intelligent Systems (Volume 12, Issue 1)

Received: 24 June 2024 Accepted: 22 July 2024 Published: 29 July 2024

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Abstract

The industrial robots play an important role in modern industrial manufacturing processes, and their applications are becoming increasingly widespread, greatly improving manufacturing efficiency and significantly enhancing the digitalization level of the manufacturing industry. Therefore, achieving safe control of multi robot collaborative work is of great significance for the stable and efficient operation of robot systems. This article proposes a dual robot safety control technology based on the kinematic model of industrial robots. Firstly, a mathematical model of the kinematic space of the dual robots is constructed using D-H parameters; Then, use recursive traversal algorithm to calculate the minimum distance between each joint arm of the two robots in real time; Finally, the minimum distance between each joint arm will be calculated and compared with the set safety threshold to achieve real-time assessment and control of collision risk during the movement of the dual robots. A dual robot safety control testing platform was built using two KUKA industrial robots, integrated control software was developed, and relevant algorithms were validated. Through experiments, it was verified that this method can evaluate the collision risk of dual robots in real time during motion and effectively control the collision risk during the motion of dual robots.

Published in	Automation, Control and Intelligent Systems (Volume 12, Issue 1)
DOI	10.11648/j.acis.20241201.12
Page(s)	15-21
Creative Commons	This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited.
Copyright	Copyright © The Author(s), 2024. Published by Science Publishing Group

Keywords

Dual Robots, Safety Control, Kinematic Model, Collision Prevention

References

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[2]	Gilbreath G A, Everett H R. ath Planning And Collision Avoidance For An Indoor Security Robot [J]. Proceedings of Spie the International Society for Optical Engineering, 1988. https://doi.org/10.1117/12.949078
[3]	Xia Qingsong, Tang Qiuhua, Zhang Liping Collaborative path planning and collision avoidance for multi warehouse robots [J] Information and Control, 2019, 48(01): 26-32+38.
[4]	Wan Yifei, Peng Li. Multi robot path planning based on collaborative multi-objective algorithm [J] Information and Control, 2020,4(02): 139-146.
[5]	TANG Bin, WANG Xue-wu, XUE Li-ka, GU Xing-sheng. Dual-Welding Robots Collision-Free Path Planning [J]. Journal of East China University of Science and Technology, 2017, (3): 417-424. https://doi.org/10.14135/j.cnki.1006-3080.2017.03.019
[6]	Zhou Fangming, Zhou Tao, Guo Yong, et al. Research on Computer Simulation Technology of Rack Dual Robot Welding Workstation [J]. Welding Machine, 2008, 38(12): 5.
[7]	Li Bo, Kong Lingyun, Mao Dongchen, et al. Research on Collaborative Control Path Planning of Dual arm Robots Based on ROS [J]. Electronic Manufacturing, 2024, 32(1): 52-55.
[8]	Shen Jie. Collision avoidance path planning for robots in complex dynamic environments [J]. Mechanical Design and Manufacturing, 2017(11): 4.
[9]	Zhang Chunliu, Zhang Lijian, Hu Ruiqin, et al. Quality and Safety Management of Industrial Robots in Spacecraft Assembly Applications [J]. Ordnance Automation, 2019, 38(4): 5.
[10]	Zhu Hanhua, Zhao Songying, Li Jingshu, etc A Moving Target Tracking Method Based on Monocular Vision [J]. China Navigation, 2017, 40(2): 1-5. National Library of Medicine, “Dinitrogen Tetroxide”.
[11]	Li Xianhua, Sun Qing, Zhang Leigang, etc Flexibility analysis of dual arm coordinated operation of service robots [J] Journal of Huazhong University of Science and Technology (Natural Science Edition), 2019(5): 33-38.
[12]	Flacco F, Kröger T, Luca A D, et al. A depth space approach to human-robot collision avoidance [J]// IEEE International Conference on Robotics and Automation. IEEE, 2016: 338-345.
[13]	Zhang Zehong, Ji Weixi, Xu Jie, et al. A collision prediction method for loading and unloading robots based on vision and sensors [J] Sensors and Microsystems, 2021, 40(03): 44-51.
[14]	Zhang Chuntao, Wang Yong, Mu Chunyang, et al., Research on Collision Detection of Machine Manpower/Position Hybrid Control Based on Fast Dynamics Identification [J] Journal of Instrumentation, 2021, 42(06): 161-171.
[15]	Lin Yizhong, Yi Yuqing, Qin Qihang, et al. Research on Robot Variable Stiffness Collision Sensor with Inertial Compensation [J]. Machine Tool and Hydraulic, 2023, 51(17): 1-5.

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APA Style

Chen, Q. (2024). Research on Safety Control Technology for Dual Robots Based on Kinematic Models. Automation, Control and Intelligent Systems, 12(1), 15-21. https://doi.org/10.11648/j.acis.20241201.12

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ACS Style

Chen, Q. Research on Safety Control Technology for Dual Robots Based on Kinematic Models. Autom. Control Intell. Syst. 2024, 12(1), 15-21. doi: 10.11648/j.acis.20241201.12

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AMA Style

Chen Q. Research on Safety Control Technology for Dual Robots Based on Kinematic Models. Autom Control Intell Syst. 2024;12(1):15-21. doi: 10.11648/j.acis.20241201.12

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@article{10.11648/j.acis.20241201.12,
  author = {Qiang Chen},
  title = {Research on Safety Control Technology for Dual Robots Based on Kinematic Models
},
  journal = {Automation, Control and Intelligent Systems},
  volume = {12},
  number = {1},
  pages = {15-21},
  doi = {10.11648/j.acis.20241201.12},
  url = {https://doi.org/10.11648/j.acis.20241201.12},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.acis.20241201.12},
  abstract = {The industrial robots play an important role in modern industrial manufacturing processes, and their applications are becoming increasingly widespread, greatly improving manufacturing efficiency and significantly enhancing the digitalization level of the manufacturing industry. Therefore, achieving safe control of multi robot collaborative work is of great significance for the stable and efficient operation of robot systems. This article proposes a dual robot safety control technology based on the kinematic model of industrial robots. Firstly, a mathematical model of the kinematic space of the dual robots is constructed using D-H parameters; Then, use recursive traversal algorithm to calculate the minimum distance between each joint arm of the two robots in real time; Finally, the minimum distance between each joint arm will be calculated and compared with the set safety threshold to achieve real-time assessment and control of collision risk during the movement of the dual robots. A dual robot safety control testing platform was built using two KUKA industrial robots, integrated control software was developed, and relevant algorithms were validated. Through experiments, it was verified that this method can evaluate the collision risk of dual robots in real time during motion and effectively control the collision risk during the motion of dual robots.
},
 year = {2024}
}

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TY  - JOUR
T1  - Research on Safety Control Technology for Dual Robots Based on Kinematic Models

AU  - Qiang Chen
Y1  - 2024/07/29
PY  - 2024
N1  - https://doi.org/10.11648/j.acis.20241201.12
DO  - 10.11648/j.acis.20241201.12
T2  - Automation, Control and Intelligent Systems
JF  - Automation, Control and Intelligent Systems
JO  - Automation, Control and Intelligent Systems
SP  - 15
EP  - 21
PB  - Science Publishing Group
SN  - 2328-5591
UR  - https://doi.org/10.11648/j.acis.20241201.12
AB  - The industrial robots play an important role in modern industrial manufacturing processes, and their applications are becoming increasingly widespread, greatly improving manufacturing efficiency and significantly enhancing the digitalization level of the manufacturing industry. Therefore, achieving safe control of multi robot collaborative work is of great significance for the stable and efficient operation of robot systems. This article proposes a dual robot safety control technology based on the kinematic model of industrial robots. Firstly, a mathematical model of the kinematic space of the dual robots is constructed using D-H parameters; Then, use recursive traversal algorithm to calculate the minimum distance between each joint arm of the two robots in real time; Finally, the minimum distance between each joint arm will be calculated and compared with the set safety threshold to achieve real-time assessment and control of collision risk during the movement of the dual robots. A dual robot safety control testing platform was built using two KUKA industrial robots, integrated control software was developed, and relevant algorithms were validated. Through experiments, it was verified that this method can evaluate the collision risk of dual robots in real time during motion and effectively control the collision risk during the motion of dual robots.

VL  - 12
IS  - 1
ER  -

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Author Information

Qiang Chen

Chengdu Aircraft Industrial (Group) Co., LTD, Chengdu, China; Sichuan Aviation Intelligent Manufacturing Equipment Engineering Technology Research Center, Chengdu, China

http://orcid.org/0000-0002-7095-3945

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Plain Text BibTeX RIS

APA Style

Chen, Q. (2024). Research on Safety Control Technology for Dual Robots Based on Kinematic Models. Automation, Control and Intelligent Systems, 12(1), 15-21. https://doi.org/10.11648/j.acis.20241201.12

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ACS Style

Chen, Q. Research on Safety Control Technology for Dual Robots Based on Kinematic Models. Autom. Control Intell. Syst. 2024, 12(1), 15-21. doi: 10.11648/j.acis.20241201.12

Copy | Download

AMA Style

Chen Q. Research on Safety Control Technology for Dual Robots Based on Kinematic Models. Autom Control Intell Syst. 2024;12(1):15-21. doi: 10.11648/j.acis.20241201.12

Copy | Download

@article{10.11648/j.acis.20241201.12,
  author = {Qiang Chen},
  title = {Research on Safety Control Technology for Dual Robots Based on Kinematic Models
},
  journal = {Automation, Control and Intelligent Systems},
  volume = {12},
  number = {1},
  pages = {15-21},
  doi = {10.11648/j.acis.20241201.12},
  url = {https://doi.org/10.11648/j.acis.20241201.12},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.acis.20241201.12},
  abstract = {The industrial robots play an important role in modern industrial manufacturing processes, and their applications are becoming increasingly widespread, greatly improving manufacturing efficiency and significantly enhancing the digitalization level of the manufacturing industry. Therefore, achieving safe control of multi robot collaborative work is of great significance for the stable and efficient operation of robot systems. This article proposes a dual robot safety control technology based on the kinematic model of industrial robots. Firstly, a mathematical model of the kinematic space of the dual robots is constructed using D-H parameters; Then, use recursive traversal algorithm to calculate the minimum distance between each joint arm of the two robots in real time; Finally, the minimum distance between each joint arm will be calculated and compared with the set safety threshold to achieve real-time assessment and control of collision risk during the movement of the dual robots. A dual robot safety control testing platform was built using two KUKA industrial robots, integrated control software was developed, and relevant algorithms were validated. Through experiments, it was verified that this method can evaluate the collision risk of dual robots in real time during motion and effectively control the collision risk during the motion of dual robots.
},
 year = {2024}
}

Copy | Download

TY  - JOUR
T1  - Research on Safety Control Technology for Dual Robots Based on Kinematic Models

AU  - Qiang Chen
Y1  - 2024/07/29
PY  - 2024
N1  - https://doi.org/10.11648/j.acis.20241201.12
DO  - 10.11648/j.acis.20241201.12
T2  - Automation, Control and Intelligent Systems
JF  - Automation, Control and Intelligent Systems
JO  - Automation, Control and Intelligent Systems
SP  - 15
EP  - 21
PB  - Science Publishing Group
SN  - 2328-5591
UR  - https://doi.org/10.11648/j.acis.20241201.12
AB  - The industrial robots play an important role in modern industrial manufacturing processes, and their applications are becoming increasingly widespread, greatly improving manufacturing efficiency and significantly enhancing the digitalization level of the manufacturing industry. Therefore, achieving safe control of multi robot collaborative work is of great significance for the stable and efficient operation of robot systems. This article proposes a dual robot safety control technology based on the kinematic model of industrial robots. Firstly, a mathematical model of the kinematic space of the dual robots is constructed using D-H parameters; Then, use recursive traversal algorithm to calculate the minimum distance between each joint arm of the two robots in real time; Finally, the minimum distance between each joint arm will be calculated and compared with the set safety threshold to achieve real-time assessment and control of collision risk during the movement of the dual robots. A dual robot safety control testing platform was built using two KUKA industrial robots, integrated control software was developed, and relevant algorithms were validated. Through experiments, it was verified that this method can evaluate the collision risk of dual robots in real time during motion and effectively control the collision risk during the motion of dual robots.

VL  - 12
IS  - 1
ER  -

Copy | Download