Human-robot collaboration for surface treatment tasks
[EN] This paper presents a human-robot closely collaborative solution to cooperatively perform surface treatment tasks such as polishing, grinding, finishing, deburring, etc. The proposed scheme is based on task priority and non-conventional sliding mode control. Furthermore, the proposal includes t...
| Autores: | , , , , , |
|---|---|
| Tipo de recurso: | artículo |
| Fecha de publicación: | 2019 |
| País: | España |
| Institución: | Universitat Politècnica de València (UPV) |
| Repositorio: | RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia |
| Idioma: | inglés |
| OAI Identifier: | oai:riunet.upv.es:10251/157497 |
| Acceso en línea: | https://riunet.upv.es/handle/10251/157497 |
| Access Level: | acceso abierto |
| Palabra clave: | Cooperative control Robust control Robot system Sliding mode control ARQUITECTURA Y TECNOLOGIA DE COMPUTADORES INGENIERIA DE SISTEMAS Y AUTOMATICA |
| Sumario: | [EN] This paper presents a human-robot closely collaborative solution to cooperatively perform surface treatment tasks such as polishing, grinding, finishing, deburring, etc. The proposed scheme is based on task priority and non-conventional sliding mode control. Furthermore, the proposal includes two force sensors attached to the manipulator end-effector and tool: one sensor is used to properly accomplish the surface treatment task, while the second one is used by the operator to guide the robot tool. The applicability and feasibility of the proposed collaborative solution for robotic surface treatment are substantiated by experimental results using a redundant 7R manipulator: the Sawyer collaborative robot. |
|---|