Dual arm co-manipulation architecture with enhanced human–robot communication for large part manipulation
Loading...
Identifiers
Publication date
2020-10-29
Advisors
Journal Title
Journal ISSN
Volume Title
Publisher
Abstract
The emergence of collaborative robotics has had a great impact on the development of robotic solutions for cooperative tasks nowadays carried out by humans, especially in industrial environments where robots can act as assistants to operators. Even so, the coordinated manipulation of large parts between robots and humans gives rise to many technical challenges, ranging from the coordination of both robotic arms to the human–robot information exchange. This paper presents a novel architecture for the execution of trajectory driven collaborative tasks, combining impedance control and trajectory coordination in the control loop, as well as adding mechanisms to provide effective robot-to-human feedback for a successful and satisfactory task completion. The obtained results demonstrate the validity of the proposed architecture as well as its suitability for the implementation of collaborative robotic systems.
Description
Publisher Copyright: © 2020 by the authors. Licensee MDPI, Basel, Switzerland.
Keywords
Human , Robot interaction; co-manipulation , Analytical Chemistry , Information Systems , Atomic and Molecular Physics, and Optics , Biochemistry , Instrumentation , Electrical and Electronic Engineering , SDG 9 - Industry, Innovation, and Infrastructure , Project ID , info:eu-repo/grantAgreement/EC/H2020/820689/EU/Seamless and safe human - centred robotic applications for novel collaborative workplaces/SHERLOCK , info:eu-repo/grantAgreement/EC/H2020/820689/EU/Seamless and safe human - centred robotic applications for novel collaborative workplaces/SHERLOCK , Funding Info , This work has received funding from the European Union Horizon 2020 research and innovation_x000D_programme as part of the project SHERLOCK under grant agreement No 820689 , This work has received funding from the European Union Horizon 2020 research and innovation_x000D_ programme as part of the project SHERLOCK under grant agreement No 820689
Type
Citation
Ibarguren , A , Eimontaite , I , Outón , J L & Fletcher , S 2020 , ' Dual arm co-manipulation architecture with enhanced human–robot communication for large part manipulation ' , Sensors , vol. 20 , no. 21 , 6151 , pp. 1-15 . https://doi.org/10.3390/s20216151 , https://doi.org/10.3390/s20216151