A Graph Robot Network for Force Observer of Teleoperation Systems
文献类型：期刊论文
| 作者 | Pan, Ming-Zhang1; Li, Jing-Ao1; Li, Zhen2,3 ; Liang, Kun1; Su, Tie-Cheng1; Liang, Ke1; Bian, Gui-Bin4
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| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
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| 出版日期 | 2024-06-05 |
| 页码 | 11 |
| 关键词 | Deep learning force observer master-slave robot teleoperation system |
| ISSN号 | 1083-4435 |
| DOI | 10.1109/TMECH.2024.3402995 |
| 通讯作者 | Bian, Gui-Bin(guibin.bian@ia.ac.cn) |
| 英文摘要 | Force information is crucial to teleoperation systems, which allows experts to perform tasks safely and reduces potential risks. However, due to the limitations of robot size and working environment, it is difficult to obtain contact force information through traditional force sensors. Therefore, this article proposes a graph robot network force observer, which can achieve sensorless force estimation without solving the robot dynamics. First, different association graphs are constructed according to the relative spatial position of the robot joints, establishing information transmission channels between each joint. Second, a neural reinforcement factor is introduced from robot joint motion information to enhance the feature information of different association subgraphs. Finally, a spatial and temporal feature fusion module is developed to extract and fuse both temporal and spatial information, which outputs the force information on the robot end effector along axes X, Y, and Z. Experiments in different environments and ablation experiments are carried out to verify the stability and generalization ability of the model. The experimental results show that the proposed force observer can accurately achieve the contact force between the robot and the object, and the proposed force observer achieves state-of-the-art performance compared with other algorithms. |
| 资助项目 | National Natural Science Foundation of China |
| WOS研究方向 | Automation & Control Systems ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:001242965600001 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/58748]  |
| 专题 | 智能机器人系统研究 |
| 通讯作者 | Bian, Gui-Bin |
| 作者单位 | 1.Guangxi Univ, Sch Mech Engn, Nanning 530004, Peoples R China 2.Tongji Univ, Sch Elect & Informat Engn, Shanghai 200092, Peoples R China 3.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 4.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Pan, Ming-Zhang,Li, Jing-Ao,Li, Zhen,et al. A Graph Robot Network for Force Observer of Teleoperation Systems[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2024:11. |
| APA | Pan, Ming-Zhang.,Li, Jing-Ao.,Li, Zhen.,Liang, Kun.,Su, Tie-Cheng.,...&Bian, Gui-Bin.(2024).A Graph Robot Network for Force Observer of Teleoperation Systems.IEEE-ASME TRANSACTIONS ON MECHATRONICS,11. |
| MLA | Pan, Ming-Zhang,et al."A Graph Robot Network for Force Observer of Teleoperation Systems".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2024):11. |
入库方式： OAI收割
来源：自动化研究所
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