人机协作的表面处理任务

IF 0.9 4区心理学 Q3 COMMUNICATION

Interaction Studies Pub Date : 2019-07-15 DOI:10.1075/IS.18010.GRA

L. Gracia, J. E. Solanes, P. Muñoz-Benavent, J. V. Miró, C. Pérez-Vidal, J. Tornero

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引用次数: 6

摘要

提出了一种人机紧密协作解决方案，可协同完成抛光、磨削、精加工、去毛刺等表面处理任务。该方案基于任务优先级和非常规滑模控制。此外，该方案还包括附着在机械手末端执行器和刀具上的两个力传感器:一个传感器用于正确完成表面处理任务，另一个传感器用于操作人员引导机器人刀具。利用冗余7R机械手Sawyer协作机器人的实验结果验证了所提出的机器人表面处理协同解决方案的适用性和可行性。

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Human-robot collaboration for surface treatment tasks

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.

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来源期刊

Interaction Studies Multiple-

CiteScore

3.30

自引率

6.70%

发文量

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.