Human-robot collaboration for surface treatment tasks

被引：6
|
作者：
Gracia, Luis [1 ]
Ernesto Solanes, J. [1 ]
Munoz-Benavent, Pau [2 ]
Valls Miro, Jaime [3 ]
Perez-Vidal, Carlos [4 ]
Tornero, Josep [2 ,5 ]
机构：
[1] Univ Politecn Valencia, Dept Syst Engn & Control DISA, Valencia, Spain
[2] Univ Politecn Valencia, Design & Mfg Inst IDF, Valencia, Spain
[3] Univ Technol Sydney, Ctr Autonomous Syst, Sydney, NSW, Australia
[4] Univ Miguel Hernandez, Control & Syst Engn, Elche, Spain
[5] Univ Politecn Valencia, DISA, Valencia, Spain
来源：
INTERACTION STUDIES | 2019年 / 20卷 / 01期
关键词：
cooperative control; robust control; robot system; sliding mode control; FORCE; SYSTEM;
D O I：
10.1075/is.18010.gra
中图分类号：
G2 [信息与知识传播];
学科分类号：
05 ; 0503 ;
摘要：
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.
引用
收藏
页码：148 / 184
页数：37
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