3 research outputs found
walk through programming for industrial applications
Abstract Collaboration between humans and robots is increasingly desired in several application domains, including the manufacturing domain. The paper describes a software control architecture for industrial robotic applications allowing human-robot cooperation during the programming phase of a robotic task. The control architecture is based on admittance control and tool dynamics compensation for implementing walk-through programming and manual guidance. Further steps to integrate this system on a real set-up include the robot kinematics and a socket communication that sends a binary file to the robot
Compensation of Load Dynamics for Admittance Controlled Interactive Industrial Robots Using a Quaternion-Based Kalman Filter
The paper describes a control architecture for industrial
robotic applications allowing human/robot interactions, using
an admittance control scheme and direct sensing of the human inputs.
The aim of the proposed scheme is to support the operator
of an industrial robot, equipped with a force/torque (F/T) sensor
on the end-effector, during human/robot collaboration tasks involving
heavy payloads carried by the robot. In these practical
applications, the dynamics of the load may significatively affect
the measurements of the F/T sensor. Model-based compensation
of such dynamic effects requires to compute linear acceleration
and angular acceleration/velocity of the load, that in this paper
are estimated by means of a quaternion-based Kalman filter and
assuming that the only available measurements come from the forward
kinematics of the robot. Experimental results demonstrate
the feasibility of the approach and its industrial applicability