Control Strategies for Dual Arm Co-Manipulation of Flexible Objects in Industrial Environments

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dc.contributor.authorIbarguren, Aitor
dc.contributor.authorDaelman, Paul
dc.contributor.authorPrada, Miguel
dc.contributor.institutionROBOTICA_AUTOMA
dc.contributor.institutionTecnalia Research & Innovation
dc.contributor.institutionRobótica Médica
dc.date.accessioned2024-07-24T11:52:58Z
dc.date.available2024-07-24T11:52:58Z
dc.date.issued2020-06-10
dc.descriptionPublisher Copyright: © 2020 IEEE.
dc.description.abstractThe introduction of collaborative robots had a great impact in the development of robotic solutions for cooperative tasks typically performed by humans, specially in industrial environments where robots can act as assistants of operators. Even so, the coordinated manipulation of large and deformable parts between dual arm robots and humans rises many technical challenges, ranging from the coordination of both robotic arms to the detection of the forces applied by the operator. This paper presents a novel control architecture for the execution of trajectory driven collaborative tasks, combining impedance control and trajectory coordination in the control loop. The obtained results demonstrate the validity of the implemented control architecture as well as its suitability for the implementation of collaborative cyber-physical systems.en
dc.description.sponsorshipThis work has received funding from the European Union Horizon 2020 research and innovation programme as part of the project SHERLOCK under grant agreement No 820689.
dc.description.statusPeer reviewed
dc.format.extent6
dc.identifier.citationIbarguren , A , Daelman , P & Prada , M 2020 , Control Strategies for Dual Arm Co-Manipulation of Flexible Objects in Industrial Environments . in Proceedings - 2020 IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020 . , 9274711 , Proceedings - 2020 IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020 , Institute of Electrical and Electronics Engineers Inc. , pp. 514-519 , 3rd IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020 , Virtual, Tampere , Finland , 10/06/20 . https://doi.org/10.1109/ICPS48405.2020.9274711
dc.identifier.citationconference
dc.identifier.doi10.1109/ICPS48405.2020.9274711
dc.identifier.isbn9781728163895
dc.identifier.urihttps://hdl.handle.net/11556/2248
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=85094846177&partnerID=8YFLogxK
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.relation.ispartofProceedings - 2020 IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020
dc.relation.ispartofseriesProceedings - 2020 IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020
dc.relation.projectIDHorizon 2020 Framework Programme, H2020
dc.relation.projectIDHorizon 2020, 820689
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subject.keywordsco-manipulation
dc.subject.keywordsdual-arm
dc.subject.keywordsimpedance control
dc.subject.keywordsArtificial Intelligence
dc.subject.keywordsComputer Science Applications
dc.subject.keywordsHardware and Architecture
dc.subject.keywordsInformation Systems and Management
dc.subject.keywordsControl and Systems Engineering
dc.subject.keywordsIndustrial and Manufacturing Engineering
dc.subject.keywordsSafety, Risk, Reliability and Quality
dc.subject.keywordsSDG 9 - Industry, Innovation, and Infrastructure
dc.titleControl Strategies for Dual Arm Co-Manipulation of Flexible Objects in Industrial Environmentsen
dc.typeconference output
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