L. Gracia, J. E. Solanes, P. Muñoz-Benavent, J. V. Miró, C. Pérez-Vidal, J. Tornero
{"title":"Human-robot collaboration for surface treatment tasks","authors":"L. Gracia, J. E. Solanes, P. Muñoz-Benavent, J. V. Miró, C. Pérez-Vidal, J. Tornero","doi":"10.1075/IS.18010.GRA","DOIUrl":null,"url":null,"abstract":"\n This paper presents a human-robot closely collaborative solution to cooperatively perform surface treatment tasks\n such as polishing, grinding, finishing, deburring, etc. The proposed scheme is based on task priority and non-conventional sliding\n mode control. Furthermore, the proposal includes two force sensors attached to the manipulator end-effector and tool: one sensor\n is used to properly accomplish the surface treatment task, while the second one is used by the operator to guide the robot tool.\n The applicability and feasibility of the proposed collaborative solution for robotic surface treatment are substantiated by\n experimental results using a redundant 7R manipulator: the Sawyer collaborative robot.","PeriodicalId":46494,"journal":{"name":"Interaction Studies","volume":" ","pages":""},"PeriodicalIF":0.9000,"publicationDate":"2019-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Interaction Studies","FirstCategoryId":"98","ListUrlMain":"https://doi.org/10.1075/IS.18010.GRA","RegionNum":4,"RegionCategory":"心理学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"COMMUNICATION","Score":null,"Total":0}
引用次数: 6
Abstract
This paper presents a human-robot closely collaborative solution to cooperatively perform surface treatment tasks
such as polishing, grinding, finishing, deburring, etc. The proposed scheme is based on task priority and non-conventional sliding
mode control. Furthermore, the proposal includes 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 applicability and feasibility of the proposed collaborative solution for robotic surface treatment are substantiated by
experimental results using a redundant 7R manipulator: the Sawyer collaborative robot.
期刊介绍：
This international peer-reviewed journal aims to advance knowledge in the growing and strongly interdisciplinary area of Interaction Studies in biological and artificial systems. Understanding social behaviour and communication in biological and artificial systems requires knowledge of evolutionary, developmental and neurobiological aspects of social behaviour and communication; the embodied nature of interactions; origins and characteristics of social and narrative intelligence; perception, action and communication in the context of dynamic and social environments; social learning.
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