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

    Keywords

    • manipulators
    • impedance control
    • human robot collaboration

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