Haptic Guidance in a Collaborative Robotic System

• Type: Article in International Conference Proceedings Book
• Date: 2013

Authors

ribeiro, f (Author) Other; lopes, am (Author) FEUP

Conference proceedings International

Title: ROBOTICS IN SMART MANUFACTURING

Pages: 101-112

International Workshop on Robotics in Smart Manufacturing (WRSM 2013) / 23rd International Conference on Flexible Automation and Intelligent Manufacturing (FAIM 2013)

Porto, PORTUGAL, JUN 26-28, 2013

Indexing

ISI Web of Knowledge - 2 Citations

Scopus - 0 Citations

Scientific classification

FOS: Engineering and technology > Other engineering and technologies

Other information

Authenticus ID: P-006-FGH

DOI: 10.1007/978-3-642-39223-8_10

Abstract (EN): The development of the notion of virtual fixture originated the broader concept of robot haptic guidance, meaning a recent technology to support motor learning. It has been applied in many areas, namely on automotive assembly, medical rehabilitation and training of healthy people. The implementation of virtual fixtures depends on the robot mechanical and drive system, namely the type of actuators and transmissions. If non-backdiiven transmissions are used the operator controls the robot through the forces he / she exerts on the robot handle (which are measured by a force transducer incorporated at the robot end-effector). These robots usually use motors with large reduction ratios and are admittance controlled. In this paper we implement haptic guidance in an impedance type three degree-of-freedom (dot) heavy robot. An admittance low-level controller is firstly designed based on an IP (Integral, Proportional) velocity controller. Two types of virtual fixtures are implemented and the effectiveness of the proposed approach is illustrated experimentally.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 12