Collaborative robots are increasingly being used in dynamic and semi-structured environments because of their ability to perform physical Human–Robot Interaction (pHRI) to ensure safety. Therefore, it is crucial to model the dynamics of collaborative robots during pHRI to gain valuable insights into the system’s behavior when in contact with humans. In this work, a generic dynamic model is proposed for the quasi-static contact phase of pHRI, which considers the interaction dynamics and the complete structural dynamics of the collaborative robot. Moreover, a hybrid physics-informed neural network (PINN) is proposed, which utilizes a recurrent neural network (RNN) and the Runge–Kutta method to identify the joint dynamic parameters without complicated regressor construction. Experiments are conducted using a UR3e collaborative robot, and the PINN is trained using the acquired data. The results demonstrate the effectiveness of the PINN in identifying joint dynamics without prior knowledge, and the dynamic simulation of pHRI is consistent with the experimental results. The proposed model and PINN-based identification approach have the potential to improve safety and productivity in industrial environments by facilitating the control of pHRI.


    Access

    Download


    Export, share and cite



    Title :

    Collaborative robot dynamics with physical human–robot interaction and parameter identification with PINN


    Contributors:
    Yang, Xingyu (author) / Zhou, Zhengxue (author) / Li, Leihui (author) / Zhang, Xuping (author)

    Publication date :

    2023-11-01


    Remarks:

    Yang , X , Zhou , Z , Li , L & Zhang , X 2023 , ' Collaborative robot dynamics with physical human–robot interaction and parameter identification with PINN ' , Mechanism and Machine Theory , vol. 189 , 105439 . https://doi.org/10.1016/j.mechmachtheory.2023.105439



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Identification of Human Dynamics in User-Led Physical Human Robot Environment Interaction

    Haninger, Kevin / Surdilovic, Dragoljub | BASE | 2018

    Free access

    Bilateral human-robot interaction with physical contact

    Leica, Paulo / Toibero, Juan M. / Roberti, Flavio et al. | IEEE | 2013


    Modular Robot Arm Design for Physical Human-Robot Interaction

    Tremblay, Ty / Padir, Taskin | IEEE | 2013


    Learning physical collaborative robot behaviors from human demonstrations

    Rozo Castañeda, Leonel / Calinon, Sylvain / Caldwell, Darwin et al. | BASE | 2016

    Free access

    Learning physical collaborative robot behaviors from human demonstrations

    Rozo, Leonel / Calinon, Sylvain / Caldwell, Darwin et al. | BASE | 2016

    Free access