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...

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Detalles Bibliográficos
Autores: Gracia Calandin, Luis Ignacio|||0000-0001-9258-9286, Solanes, J. Ernesto|||0000-0001-5011-4872, Muñoz-Benavent, Pau|||0000-0003-4681-183X, Tornero Montserrat, Josep|||0000-0003-1571-0251, Valls Miro, Jaime, Perez-Vidal, Carlos
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
id ES_ecead88acd22b1d10faf96e2edadbd4c
oai_identifier_str oai:riunet.upv.es:10251/157497
network_acronym_str ES
network_name_str España
repository_id_str
spelling Human-robot collaboration for surface treatment tasksGracia Calandin, Luis Ignacio|||0000-0001-9258-9286Solanes, J. Ernesto|||0000-0001-5011-4872Muñoz-Benavent, Pau|||0000-0003-4681-183XTornero Montserrat, Josep|||0000-0003-1571-0251Valls Miro, JaimePerez-Vidal, CarlosCooperative controlRobust controlRobot systemSliding mode controlARQUITECTURA Y TECNOLOGIA DE COMPUTADORESINGENIERIA DE SISTEMAS Y AUTOMATICA[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.This work was supported in part by the Spanish Government under the project DPI-201787656-C2-1-R and the Generalitat Valenciana under Grant VALi+d.John Benjamins Publishing CompanyDepartamento de Informática de Sistemas y ComputadoresDepartamento de Ingeniería de Sistemas y AutomáticaEscuela Técnica Superior de Ingeniería Aeroespacial y Diseño IndustrialInstituto de Diseño para la Fabricación y Producción AutomatizadaInstituto Universitario de Automática e Informática IndustrialEscuela Politécnica Superior de AlcoyGeneralitat ValencianaAgencia Estatal de InvestigaciónRepositorio Institucional de la Universitat Politècnica de València Riunet20192019-01-01journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfapplication/pdfhttps://riunet.upv.es/handle/10251/157497reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valénciainstname:Universitat Politècnica de València (UPV)InglésengGeneralitat Valenciana https://doi.org/10.13039/501100003359 APOSTD%2F2016%2F044Agencia Estatal de Investigación http://dx.doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016 DPI2017-87656-C2-1-R VISION ARTIFICIAL Y ROBOTICA COLABORATIVA EN PULIDO DE SUPERFICIES EN LA INDUSTRIAGeneralitat Valenciana https://doi.org/10.13039/501100003359 AEST%2F2019%2F010Generalitat Valenciana https://doi.org/10.13039/501100003359 ACIF%2F2019%2F007open accesshttp://purl.org/coar/access_right/c_abf2Reserva de todos los derechoshttp://rightsstatements.org/vocab/InC/1.0/info:eu-repo/semantics/openAccessoai:riunet.upv.es:10251/1574972026-06-13T07:49:27Z
dc.title.none.fl_str_mv Human-robot collaboration for surface treatment tasks
title Human-robot collaboration for surface treatment tasks
spellingShingle Human-robot collaboration for surface treatment tasks
Gracia Calandin, Luis Ignacio|||0000-0001-9258-9286
Cooperative control
Robust control
Robot system
Sliding mode control
ARQUITECTURA Y TECNOLOGIA DE COMPUTADORES
INGENIERIA DE SISTEMAS Y AUTOMATICA
title_short Human-robot collaboration for surface treatment tasks
title_full Human-robot collaboration for surface treatment tasks
title_fullStr Human-robot collaboration for surface treatment tasks
title_full_unstemmed Human-robot collaboration for surface treatment tasks
title_sort Human-robot collaboration for surface treatment tasks
dc.creator.none.fl_str_mv Gracia Calandin, Luis Ignacio|||0000-0001-9258-9286
Solanes, J. Ernesto|||0000-0001-5011-4872
Muñoz-Benavent, Pau|||0000-0003-4681-183X
Tornero Montserrat, Josep|||0000-0003-1571-0251
Valls Miro, Jaime
Perez-Vidal, Carlos
author Gracia Calandin, Luis Ignacio|||0000-0001-9258-9286
author_facet Gracia Calandin, Luis Ignacio|||0000-0001-9258-9286
Solanes, J. Ernesto|||0000-0001-5011-4872
Muñoz-Benavent, Pau|||0000-0003-4681-183X
Tornero Montserrat, Josep|||0000-0003-1571-0251
Valls Miro, Jaime
Perez-Vidal, Carlos
author_role author
author2 Solanes, J. Ernesto|||0000-0001-5011-4872
Muñoz-Benavent, Pau|||0000-0003-4681-183X
Tornero Montserrat, Josep|||0000-0003-1571-0251
Valls Miro, Jaime
Perez-Vidal, Carlos
author2_role author
author
author
author
author
dc.contributor.none.fl_str_mv Departamento de Informática de Sistemas y Computadores
Departamento de Ingeniería de Sistemas y Automática
Escuela Técnica Superior de Ingeniería Aeroespacial y Diseño Industrial
Instituto de Diseño para la Fabricación y Producción Automatizada
Instituto Universitario de Automática e Informática Industrial
Escuela Politécnica Superior de Alcoy
Generalitat Valenciana
Agencia Estatal de Investigación
Repositorio Institucional de la Universitat Politècnica de València Riunet
dc.subject.none.fl_str_mv Cooperative control
Robust control
Robot system
Sliding mode control
ARQUITECTURA Y TECNOLOGIA DE COMPUTADORES
INGENIERIA DE SISTEMAS Y AUTOMATICA
topic Cooperative control
Robust control
Robot system
Sliding mode control
ARQUITECTURA Y TECNOLOGIA DE COMPUTADORES
INGENIERIA DE SISTEMAS Y AUTOMATICA
description [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.
publishDate 2019
dc.date.none.fl_str_mv 2019
2019-01-01
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://riunet.upv.es/handle/10251/157497
url https://riunet.upv.es/handle/10251/157497
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv Generalitat Valenciana https://doi.org/10.13039/501100003359 APOSTD%2F2016%2F044
Agencia Estatal de Investigación http://dx.doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016 DPI2017-87656-C2-1-R VISION ARTIFICIAL Y ROBOTICA COLABORATIVA EN PULIDO DE SUPERFICIES EN LA INDUSTRIA
Generalitat Valenciana https://doi.org/10.13039/501100003359 AEST%2F2019%2F010
Generalitat Valenciana https://doi.org/10.13039/501100003359 ACIF%2F2019%2F007
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reserva de todos los derechos
http://rightsstatements.org/vocab/InC/1.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reserva de todos los derechos
http://rightsstatements.org/vocab/InC/1.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv John Benjamins Publishing Company
publisher.none.fl_str_mv John Benjamins Publishing Company
dc.source.none.fl_str_mv reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
instname:Universitat Politècnica de València (UPV)
instname_str Universitat Politècnica de València (UPV)
reponame_str RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
collection RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,301629

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