Pregled bibliografske jedinice broj: 1046610
Collaborative human-robot framework for delicate sanding of complex shape surface
Collaborative human-robot framework for delicate sanding of complex shape surface // IEEE robotics & automation letters, 5 (2020), 2; 2848-2855 doi:10.1109/LRA.2020.2969951 (međunarodna recenzija, članak, znanstveni)
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Naslov
Collaborative human-robot framework for delicate
sanding of complex shape surface
Autori
Maric, Bruno ; Mutka, Alan ; Orsag, Matko
Izvornik
IEEE robotics & automation letters (2377-3766) 5
(2020), 2;
2848-2855
Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni
Ključne riječi
compliance and impedance control ; learning from demonstration ; industrial robots ; physical human-robot interaction ; robot safety
Sažetak
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.
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika, Računarstvo, Interdisciplinarne tehničke znanosti
POVEZANOST RADA
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
Citiraj ovu publikaciju:
Časopis indeksira:
- Current Contents Connect (CCC)
- Web of Science Core Collection (WoSCC)
- Science Citation Index Expanded (SCI-EXP)
- SCI-EXP, SSCI i/ili A&HCI
- Scopus
