Haptic Guidance in a Collaborative Robotic System

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2013

Autores

ribeiro, f (Autor) Outra; lopes, am (Autor) FEUP

Ata de Conferência Internacional

Título: ROBOTICS IN SMART MANUFACTURING

Páginas: 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

Indexação

ISI Web of Knowledge - 2 Citações

Scopus - 0 Citações

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Outras ciências da engenharia e tecnologias

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 12