Robust control of force-coupled human-robot-interaction in assembly processes

被引：37

作者：

Krueger, J. ^{[1
]}

Surdilovic, D. ^{[2
]}

机构：

[1] Tech Univ Berlin, Inst Machine Tools & Factory Management, D-1000 Berlin, Germany

[2] Fraunhofer Inst Prod Syst & Design Technol, Berlin, Germany

来源：

CIRP ANNALS-MANUFACTURING TECHNOLOGY | 2008年 / 57卷 / 01期

关键词：

co-operative assembly; robot; man-machine system;

D O I：

10.1016/j.cirp.2008.03.005

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

Flexibility and changeability of assembly processes require a close interlinkage between the worker and the automated assembly system. The interaction between human and robot improves complex assembly processes, particularly when a robot can be guided by a worker and the robot provides power assistance to the worker. The close physical contact and the direct coupling of forces of human and robot necessitate a stable and robust interaction control. This paper describes a framework developed for a robustly stable control design for interactive robots serving as intelligent assist systems for flexible and highly adaptable assembly. (c) 2008 CIRP.

引用

页码：41 / 44

页数：4

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