Human-robot cooperation for robust surface treatment using non-conventional sliding mode control

Solanes, JE; Gracia, L; Muñoz-Benavent, P; Valls Miro, J; Girbés, V; Tornero, J

Human-robot cooperation for robust surface treatment using non-conventional sliding mode control

Solanes, JE Gracia, L Muñoz-Benavent, P Valls Miro, J

Girbés, V Tornero, J

Permalink

Publication Type:: Journal Article
Citation:: ISA Transactions, 2018, 80 pp. 528 - 541
Issue Date:: 2018-09-01

Open Access

Copyright Clearance Process

Recently Added
In Progress
Open Access

This item is open access.

Adobe PDF

Download Accepted Manuscript VersionAdobe PDF (10.17 MB)

View on publisher's site

View statistics

Full metadata record

Field	Value	Language
dc.contributor.author	Solanes, JE	en_US
dc.contributor.author	Gracia, L	en_US
dc.contributor.author	Muñoz-Benavent, P	en_US
dc.contributor.author	Valls Miro, J https://orcid.org/0000-0002-0083-7797	en_US
dc.contributor.author	Girbés, V	en_US
dc.contributor.author	Tornero, J	en_US
dc.date.available	2020-06-20T19:04:27Z
dc.date.issued	2018-09-01	en_US
dc.identifier.citation	ISA Transactions, 2018, 80 pp. 528 - 541	en_US
dc.identifier.issn	0019-0578	en_US
dc.identifier.uri	http://hdl.handle.net/10453/125976
dc.description.abstract	© 2018 ISA This work presents a human-robot closely collaborative solution to cooperatively perform surface treatment tasks such as polishing, grinding, deburring, etc. The method considers 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 proposed scheme is based on task priority and adaptive non-conventional sliding mode control. The applicability of the proposed approach is substantiated by experimental results using a redundant 7R manipulator: the Sawyer cobot.	en_US
dc.relation.ispartof	ISA Transactions	en_US
dc.relation.isbasedon	10.1016/j.isatra.2018.05.013	en_US
dc.rights	info:eu-repo/semantics/openAccess
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	Human-robot cooperation for robust surface treatment using non-conventional sliding mode control	en_US
dc.type	Journal Article
utslib.citation.volume	80	en_US
utslib.for	0801 Artificial Intelligence and Image Processing	en_US
utslib.for	0910 Manufacturing Engineering	en_US
utslib.for	0102 Applied Mathematics	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access	*
pubs.publication-status	Published	en_US
pubs.volume	80	en_US

Abstract:

© 2018 ISA This work presents a human-robot closely collaborative solution to cooperatively perform surface treatment tasks such as polishing, grinding, deburring, etc. The method considers 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 proposed scheme is based on task priority and adaptive non-conventional sliding mode control. The applicability of the proposed approach is substantiated by experimental results using a redundant 7R manipulator: the Sawyer cobot.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/125976