期刊
ISA TRANSACTIONS
卷 80, 期 -, 页码 528-541出版社
ELSEVIER SCIENCE INC
DOI: 10.1016/j.isatra.2018.05.013
关键词
Cooperative task; Force feedback; Sliding mode control
资金
- Spanish Government [DPI2017-87656-C2-1-R]
- Generalitat Valenciana [VALi + d APOSTD/2016/044, APOSTD/2017/055]
This work presents a human-robot closely collaborative solution to cooperatively perform surface treatment tasks such as polishing, grinding, deburring, etc. The method considers two force sensors attached to the manipulator end-effector and tool: one sensor is used to properly accomplish the surface treatment task, while the second one is used by the operator to guide the robot tool. The proposed scheme is based on task priority and adaptive non-conventional sliding mode control. The applicability of the proposed approach is substantiated by experimental results using a redundant 7R manipulator: the Sawyer cobot.
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