Development of impedance control for human/robot interactive handling of heavy parts and loads

Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

4 Citations (Scopus)

Abstract

This paper introduces a control system for human/robot interactive handling of heavy parts and loads. The aim of the study was to demonstrate the feasibility of human/robot cooperative handling of heavy parts and loads with a robot as a load carrier and a human as a motion guide. The control system included a medium sized industrial robot and two 6-dof F/T sensors adjusting the robot motion via parallel impedance compensators. This paper shows the principles for designing stable impedance compensators for hard contact with the environment as well as for soft contact with the human operator. The impedance compensators were evaluated in MATLAB Simulink and the target impedance models were verified with the real robot system. The result was a pilot system for flexible handling of heavy and large-size parts which can substantially improve the production performance and ergonomic work conditions in mechanical and manufacturing shops.

Original languageEnglish
Title of host publication2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications
PublisherAmerican Society of Mechanical Engineers ASME
Volume9
ISBN (Print)978-0-7918-5719-9
DOIs
Publication statusPublished - 1 Jan 2015
MoE publication typeA4 Article in a conference publication
EventASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications : MESA-9 Mechatronics for Advanced Manufacturing, MESA 2015 - Boston, United States
Duration: 2 Aug 20155 Aug 2015

Conference

ConferenceASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications
Abbreviated titleMESA 2015
CountryUnited States
CityBoston
Period2/08/155/08/15

Fingerprint

Impedance Control
Robot
Impedance
Robots
Compensator
Control System
Contact
Control systems
Industrial Robot
Ergonomics
Motion
Industrial robots
Matlab/Simulink
MATLAB
Mathematical operators
Manufacturing
Human
Sensor
Target
Sensors

Keywords

  • manipulators
  • impedance control
  • human robot collaboration

Cite this

Ahola, J. M., Koskinen, J., Seppälä, T., & Heikkilä, T. (2015). Development of impedance control for human/robot interactive handling of heavy parts and loads. In 2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications (Vol. 9). American Society of Mechanical Engineers ASME. https://doi.org/10.1115/DETC2015-47045
Ahola, Jari M. ; Koskinen, Jukka ; Seppälä, Tuomas ; Heikkilä, Tapio. / Development of impedance control for human/robot interactive handling of heavy parts and loads. 2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications. Vol. 9 American Society of Mechanical Engineers ASME, 2015.
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Ahola, JM, Koskinen, J, Seppälä, T & Heikkilä, T 2015, Development of impedance control for human/robot interactive handling of heavy parts and loads. in 2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications. vol. 9, American Society of Mechanical Engineers ASME, ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications , Boston, United States, 2/08/15. https://doi.org/10.1115/DETC2015-47045

Development of impedance control for human/robot interactive handling of heavy parts and loads. / Ahola, Jari M.; Koskinen, Jukka; Seppälä, Tuomas; Heikkilä, Tapio.

2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications. Vol. 9 American Society of Mechanical Engineers ASME, 2015.

Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

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Ahola JM, Koskinen J, Seppälä T, Heikkilä T. Development of impedance control for human/robot interactive handling of heavy parts and loads. In 2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications. Vol. 9. American Society of Mechanical Engineers ASME. 2015 https://doi.org/10.1115/DETC2015-47045