Vision-Based Adaptive Impedance Control for Robotic Polishing

Zhou, Yang; Li, Xiang; Yue, Linzhu; Gui, Linhai; Sun, Guoqiang; Jiang, Xin; Liu, Yunhui

doi:10.23919/chicc.2019.8866204

Cited by 4 publications

(2 citation statements)

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“…For example, a solution based on a stable compliant motion control coupled with a variables admittance and adaptive control for moving environments has been proposed [68]. A similar approach consists of a vision-based adaptive impedance controller (inverse control strategy for admittance control) for advanced polishing tasks [69]. Adaptive controllers for safe pHRI are also exposed as solutions through an implemented adaptive damping controller, which fulfills the ISO10218 requirements by online limitation of tool velocity, pose and contact forces [70].…”

Section: ) Contact Managementmentioning

confidence: 99%

Human-Robot Interaction Review: Challenges and Solutions for Modern Industrial Environments

et al. 2021

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The demand for collaborative robots is growing in industrial environments due to their versatility and low prices. Thus, more collaborative solutions are emerging for industrial scenarios. However, implementing scenarios where robots work autonomously while synchronizing their operations in a safe industrial environment with shop-floor workers is not easy. To fill the gap existing in the safe implementation of industrial collaborative scenarios, this manuscript presents a review based on five identified challenges that gathers the primary vital aspects to bear in mind while developing applications for them. Thus, a four-level classification is proposed, which collects the identified challenges and the previous developments in the field of human-robot interaction. The five identified challenges pretends to be the missing enabling key for implementing industrial collaborative scenarios in modern industrial plants. Lastly, a discussion and conclusion are exposed to analyze the degree of development in the field and its potential growth.

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Section: ) Contact Managementmentioning

confidence: 99%

Human-Robot Interaction Review: Challenges and Solutions for Modern Industrial Environments

et al. 2021

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“…Several research works have covered the optimization of polishing operation by applying adaptive force control systems. While some authors present hardware-based solutions consisting in compliant end-effectors, like [10] and [11], others use software-based approaches based on force sensors [12], vision systems [13] and even IoT data [14].…”

Section: Introductionmentioning

confidence: 99%

NC controlled robot for adaptive and constant force 3D polishing

González

Armendia

2022

2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA)

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Industrial robot manipulators have been historically used for applications requiring high flexibility and repeatability. However, in the last years new applications linked to direct involvement of the robots in manufacturing processes have arisen, with increased demands in path tracking, dynamics, and accuracy. In this paper, an external Numerical Control based controller is used to command an industrial 6 dof manipulator, allowing the possibility to command the robot using ISO G-Code, and integrating control functionalities like kinematic transformations and Adaptative Impedance Control. An adaptive and force controlled robotic polishing cell has been set-up as a demonstrator, showing successful polishing performance.

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