Dual Arm Co-Manipulation Architecture with Enhanced Human–Robot Communication for Large Part Manipulation
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2020-10-29
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Multidisciplinary Digital Publishing Institute (MDPI)
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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.
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Ibarguren, Aitor, Iveta Eimontaite, José Luis Outón, and Sarah Fletcher. “Dual Arm Co-Manipulation Architecture with Enhanced Human–Robot Communication for Large Part Manipulation.” Sensors 20, no. 21 (October 29, 2020): 6151. doi:10.3390/s20216151