Collaborative Human-Robot Framework for Delicate Sanding of Complex Shape Surfaces

被引：43

作者：

Maric, Bruno ^{[1
]}

Mutka, Alan ^{[2
]}

Orsag, Matko ^{[1
]}

机构：

[1] Univ Zagreb, LARICS Lab Robot & Intelligent Control Syst, Fac Elect Engn & Comp, Zagreb 10000, Croatia

[2] Rochester Inst Technol Croatia, Zagreb 10000, Croatia

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2020年 / 5卷 / 02期

关键词：

Compliance and impedance control; learning from demonstration; industrial robots; physical human-robot interaction; robot safety; IMPEDANCE CONTROL; MANIPULATION; REGISTRATION;

D O I：

10.1109/LRA.2020.2969951

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This letter presents a collaborative human-robot framework for delicate sanding of complex shape surfaces. Delicate sanding is performed using a standard industrial manipulator, equipped with the force/torque sensor and specially designed compliant control algorithm. Together with the compliant control, we discuss trajectory planning and safety problem of such an approach. The experience of the human workers is exploited through the intuitive framework and applied to plan the trajectories for the robot. The flexibility and the reliability of the proposed framework is tested in real working conditions in the factory.

引用

页码：2848 / 2855

页数：8

共 30 条

[1]

Amanhoud W, 2019, ROBOTICS: SCIENCE AND SYSTEMS XV

[2] HYBRID IMPEDANCE CONTROL OF ROBOTIC MANIPULATORS [J].

ANDERSON, RJ ;

SPONG, MW .

IEEE JOURNAL OF ROBOTICS AND AUTOMATION, 1988, 4 (05) :549-556

[3]

[Anonymous], 2008, RIGID BODY DYNAMICS

[4]

Bellekens B., 2014, AMBIENT 2014 4 INT C, P8

[5] A METHOD FOR REGISTRATION OF 3-D SHAPES [J].

BESL, PJ ;

MCKAY, ND .

IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE, 1992, 14 (02) :239-256

[6]

Brechtel S, 2014, 2014 IEEE 17TH INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS (ITSC), P392, DOI 10.1109/ITSC.2014.6957722

[7]

Calinon S., 2009, Robot programming by demonstration

[8]

De Schutter J., 1987, Proceedings of the 1987 IEEE International Conference on Robotics and Automation (Cat. No.87CH2413-3), P1060

[9] Research and application on force control of industrial robot polishing concave curved surfaces [J].

Ding, Yufeng ;

Min, Xinpu ;

Fu, Weiwei ;

Liang, Zilong .

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART B-JOURNAL OF ENGINEERING MANUFACTURE, 2019, 233 (06) :1674-1686

[10] A Framework for Collaborative Robot (CoBot) Integration in Advanced Manufacturing Systems [J].

Djuric, Ana M. ;

Urbanic, R. J. ;

Rickli, J. L. .

SAE INTERNATIONAL JOURNAL OF MATERIALS AND MANUFACTURING, 2016, 9 (02) :457-464

← 1 2 3 →