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Walk-through programming for robotic manipulators based on admittance control

Published online by Cambridge University Press:  14 May 2013

Luca Bascetta ,
Gianni Ferretti ,
Gianantonio Magnani  and
Paolo Rocco
Luca Bascetta*
Affiliation:
Politecnico di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria, Piazza Leonardo da Vinci 32, 20133 Milano, Italy
Gianni Ferretti
Affiliation:
Politecnico di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria, Piazza Leonardo da Vinci 32, 20133 Milano, Italy
Gianantonio Magnani
Affiliation:
Politecnico di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria, Piazza Leonardo da Vinci 32, 20133 Milano, Italy
Paolo Rocco
Affiliation:
Politecnico di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria, Piazza Leonardo da Vinci 32, 20133 Milano, Italy
*
*Corresponding author. E-mail: luca.bascetta@polimi.it
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Summary

The present paper addresses the issues that should be covered in order to develop walk-through programming techniques (i.e. a manual guidance of the robot) in an industrial scenario. First, an exact formulation of the dynamics of the tool the human should feel when interacting with the robot is presented. Then, the paper discusses a way to implement such dynamics on an industrial robot equipped with an open robot control system and a wrist force/torque sensor, as well as the safety issues related to the walk-through programming. In particular, two strategies that make use of admittance control to constrain the robot motion are presented. One slows down the robot when the velocity of the tool centre point exceeds a specified safety limit, the other one limits the robot workspace by way of virtual safety surfaces. Experimental results on a COMAU Smart Six robot are presented, showing the performance of the walk-through programming system endowed with the two proposed safety strategies.

Keywords

Force controlControl of robotic systemsHaptic interfacesMan–Machine systemsAutomation
Type
Articles
Information
Robotica , Volume 31 , Issue 7 , October 2013 , pp. 1143 - 1153
Copyright
Copyright © Cambridge University Press 2013 

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