RT Conference Proceedings
T1 Control Strategies for Dual Arm Co-Manipulation of Flexible Objects in Industrial Environments
A1 Ibarguren, Aitor
A1 Daelman, Paul
A1 Prada, Miguel
AB The 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.
PB Institute of Electrical and Electronics Engineers Inc.
SN 9781728163895
YR 2020
FD 2020-06-10
LK https://hdl.handle.net/11556/2248
UL https://hdl.handle.net/11556/2248
LA eng
NO Ibarguren , 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
NO conference
NO Publisher Copyright: © 2020 IEEE.
NO This 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.
DS TECNALIA Publications
RD 29 sept 2024