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

Jari M. Ahola; Jukka Koskinen; Tuomas Seppälä; Tapio Heikkilä

doi:10.1115/DETC2015-47045

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

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

8 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 language	English
Title of host publication	2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications
Publisher	American Society of Mechanical Engineers (ASME)
Volume	9
ISBN (Print)	978-0-7918-5719-9
DOIs	https://doi.org/10.1115/DETC2015-47045
Publication status	Published - 1 Jan 2015
MoE publication type	A4 Article in a conference publication
Event	ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications : MESA-9 Mechatronics for Advanced Manufacturing, MESA 2015 - Boston, United States Duration: 2 Aug 2015 → 5 Aug 2015

Conference

Conference	ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications
Abbreviated title	MESA 2015
Country/Territory	United States
City	Boston
Period	2/08/15 → 5/08/15

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

Keywords

manipulators
impedance control
human robot collaboration

Access to Document

10.1115/DETC2015-47045

Cite this

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title = "Development of impedance control for human/robot interactive handling of heavy parts and loads",

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.",

keywords = "manipulators, impedance control, human robot collaboration",

author = "Ahola, \{Jari M.\} and Jukka Koskinen and Tuomas Sepp{\"a}l{\"a} and Tapio Heikkil{\"a}",

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doi = "10.1115/DETC2015-47045",

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booktitle = "2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications",

publisher = "American Society of Mechanical Engineers (ASME)",

address = "United States",

note = "ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications : MESA-9 Mechatronics for Advanced Manufacturing, MESA 2015, MESA 2015 ; Conference date: 02-08-2015 Through 05-08-2015",

}

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, Massachusetts, 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 et al.
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 proceeding › Conference article in proceedings › Scientific › peer-review

TY - GEN

T1 - Development of impedance control for human/robot interactive handling of heavy parts and loads

AU - Ahola, Jari M.

AU - Koskinen, Jukka

AU - Seppälä, Tuomas

AU - Heikkilä, Tapio

PY - 2015/1/1

Y1 - 2015/1/1

N2 - 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.

AB - 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.

KW - manipulators

KW - impedance control

KW - human robot collaboration

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DO - 10.1115/DETC2015-47045

M3 - Conference article in proceedings

AN - SCOPUS:84979073431

SN - 978-0-7918-5719-9

VL - 9

BT - 2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications

PB - American Society of Mechanical Engineers (ASME)

T2 - ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications

Y2 - 2 August 2015 through 5 August 2015

ER -

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

Abstract

Conference

UN SDGs

Keywords

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