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