%0 Journal Article
%A Ibarguren, Aitor
%A Eimontaite, Iveta
%A Outón, José Luis
%A Fletcher, Sarah
%T Dual Arm Co-Manipulation Architecture with Enhanced Human–Robot Communication for Large Part Manipulation
%D 2020
%U http://hdl.handle.net/11556/1014
%X The emergence of collaborative robotics has had a great impact on the development ofrobotic solutions for cooperative tasks nowadays carried out by humans, especially in industrialenvironments where robots can act as assistants to operators. Even so, the coordinated manipulationof large parts between robots and humans gives rise to many technical challenges, ranging from thecoordination of both robotic arms to the human–robot information exchange. This paper presents anovel architecture for the execution of trajectory driven collaborative tasks, combining impedancecontrol and trajectory coordination in the control loop, as well as adding mechanisms to provideeffective robot-to-human feedback for a successful and satisfactory task completion. The obtainedresults demonstrate the validity of the proposed architecture as well as its suitability for theimplementation of collaborative robotic systems.
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