IEEE Robotics & Automation Magazine - March 2023 - 55

effector is required to have multiturn continuous rotation to
release the bandage. As a result, the speed-based strategy is
applied to the control tension rather than the position-based
strategy. The proposed control strategy applies an adaptive
proportional derivative (PD) controller to generate the target
rotation speed eefio
of the end effector according to the error
between the desired and actual tension:
Ke nK en en 1
ieef=+ -o
f
pe
fdef__^h (9)
66 6@@ @
where K _pe and K _de are the proportional gain and differential
gain, respectively; ef is the error between the desired tension
Human Arm
End Effector
Bandage
and the actual tension; and n represents the serial number of
the sampled data. For example, []
enf
represents the error
obtained from the nth sample. The sampling interval time is
5 ms. Specially, to make the tracking of the force control
speed up the response when the error is large and avoid oscillations
when the error is small, a rigorous tuning of the
parameters on the prototype robot is completed. The proportional
gain is regulated by a segmented linear function, as
shown in (10), where F _ec and Ftgt are the actual and desired
tensions of the bandage, respectively. Kul and S are constants
of the function. Kul is set to 800, and S is set to 0.5, according
to the preliminary experimental turning:
θz-e = π
2
(xpe, ype, zpe)
zbase
zbase
xbase
ybase
Workspace (Without Adjustment)
500
-500
500
y (mm)
-500 -200 0
200
400 600
x (mm)
Workspace (Yaw: 45° Without Adjustment)
500
-500
800
600
400
200
y (mm)
-200 -200
(a)
200 400 600
x (mm)
Volume = 0.077952 m3
500
-500
800
600
400
200
y (mm)
-200
(b)
FIGURE 5. A comparison of the workspace results (a) without and (b) with the strategy. The red transparent space indicates the working
space of the robot arm in the bandaging task. The red arrow is the x-axis orientation of the end effector.
MARCH 2023 IEEE ROBOTICS & AUTOMATION MAGAZINE
55
-200
200 400 600
x (mm)
800
y (mm)
Volume = 0.079352 m3
Robot Arm
Forearm
500
-500
500
-500 -200 0
200
400
x (mm)
Workspace (Yaw: 45° With Adjustment)
Volume = 0.11695 m3
600 800
Workspace (With Adjustment)
Volume = 0.12238 m3
ybase
xbase
z (mm)
z (mm)
z (mm)
z (mm)

IEEE Robotics & Automation Magazine - March 2023

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - March 2023

Contents
IEEE Robotics & Automation Magazine - March 2023 - Cover1
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