System Development & Application
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App. Res. of Comp. Printed Article
Vol. 38, 2021 No. 6
1804-1808

Adaptive opening and screwing method of manipulator based on force guidance

Jiang Yuanchen1a,1b
Liu Hongwei1c
Liu Manlu1b,2
Zhang Junjun1a
1. a. School of Manufacturing Science & Engineering, b. Robot Technology Used for Special Environment Key Laboratory of Sichuan Province, c. School of Information Engineering, Southwest University of Science & Technology, Mianyang Sichuan 621000, China
2. School of Information Science & Technology, University of Science & Technology of China, Hefei 230026, China
DOI: 10.19734/j.issn.1001-3695.2020.06.0251

Abstract

In the uncertain nuclear environment, the manual door opening is dangerous. This paper proposed an adaptive opening and screwing method of manipulator based on force sense guidance. The six-dimensional force sensor could obtain the force and moment information at the end of the manipulator. It input the difference between the actual force or torque and the expected force or torque into deep deterministic policy gradient algorithm, output actions at the same time. This method used the function relationship between the two direction forces at the end of the manipulator to set the basic reward function and used the expected movement direction of the manipulator to set the guided reward function, for the manipulator could automatically adapt to the change of the moment and the stress, and completed the task of screwing the door handle. The experimental results show that the self-adaptive rotation method based on force guidance can achieve convergence in a shorter time and complete the task of rotating the door handle.

Foundation Support

国家“十三五”核能开发项目(20161295)
国家科技重大专项(2019ZX06002022)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2020.06.0251
Publish at: Application Research of Computers Printed Article, Vol. 38, 2021 No. 6
Section: System Development & Application
Pages: 1804-1808
Serial Number: 1001-3695(2021)06-038-1804-05

Publish History

[2021-06-05] Printed Article

Cite This Article

蒋元陈, 刘宏伟, 刘满禄, 等. 基于力觉引导的机械臂自适应开门旋拧方法 [J]. 计算机应用研究, 2021, 38 (6): 1804-1808. (Jiang Yuanchen, Liu Hongwei, Liu Manlu, et al. Adaptive opening and screwing method of manipulator based on force guidance [J]. Application Research of Computers, 2021, 38 (6): 1804-1808. )

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  • Application Research of Computers Monthly Journal
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    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

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