Walk-through programming for industrial applications

被引：24

作者：

Ferraguti, Federica ^{[1
]}

Landi, Chiara Talignani ^{[1
]}

Secchi, Cristian ^{[1
]}

Fantuzzi, Cesare ^{[1
]}

Nolli, Marco ^{[2
]}

Pesamosca, Manuel ^{[2
]}

机构：

[1] Univ Modena & Reggio Emilia, Via Amendola 2, I-42122 Reggio Emilia, Italy

[2] Gaiotto Automat, Via Toscana 1, I-29122 Piacenza, Italy

来源：

27TH INTERNATIONAL CONFERENCE ON FLEXIBLE AUTOMATION AND INTELLIGENT MANUFACTURING, FAIM2017 | 2017年 / 11卷

关键词：

physical human robot interaction; cooperative robotics; admittance control; walk-through programming;

D O I：

10.1016/j.promfg.2017.07.126

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Collaboration between humans and robots is increasingly desired in several application domains, including the manufacturing domain. The paper describes a software control architecture for industrial robotic applications allowing human-robot cooperation during the programming phase of a robotic task. The control architecture is based on admittance control and tool dynamics compensation for implementing walk-through programming and manual guidance. Further steps to integrate this system on a real set-up include the robot kinematics and a socket communication that sends a binary file to the robot. (C) 2017 The Authors. Published by Elsevier B.V.

引用

页码：31 / 38

页数：8

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