Affiliation:
1. Universitat Politècnica de València
2. University of Technology Sydney
3. Universidad Miguel Hernández
Abstract
Abstract
This paper presents a human-robot closely collaborative solution to cooperatively perform surface treatment tasks
such as polishing, grinding, finishing, deburring, etc. The proposed scheme is based on task priority and non-conventional sliding
mode control. Furthermore, the proposal includes two force sensors attached to the manipulator end-effector and tool: one sensor
is used to properly accomplish the surface treatment task, while the second one is used by the operator to guide the robot tool.
The applicability and feasibility of the proposed collaborative solution for robotic surface treatment are substantiated by
experimental results using a redundant 7R manipulator: the Sawyer collaborative robot.
Publisher
John Benjamins Publishing Company
Subject
Human-Computer Interaction,Linguistics and Language,Animal Science and Zoology,Language and Linguistics,Communication
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