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Human-Robot Cooperation for Surface Repair Combining Automatic and Manual Modes

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Human-Robot Cooperation for Surface Repair Combining Automatic and Manual Modes

dc.contributor.author	García Fernández, Alberto
dc.contributor.author	Girbés, Vicent
dc.contributor.author	Solanes, Juan Ernesto
dc.contributor.author	Gracia Calandín, Luis
dc.contributor.author	Pérez Vidal, Carlos
dc.contributor.author	Tornero, Josep
dc.date.accessioned	2021-05-25T13:05:07Z
dc.date.available	2021-05-25T13:05:07Z
dc.date.issued	2020
dc.identifier.citation	García Fernández, Alberto Girbés, Vicent Solanes, Juan Ernesto Gracia Calandín, Luis Pérez Vidal, Carlos Tornero, Josep 2020 Human-Robot Cooperation for Surface Repair Combining Automatic and Manual Modes Ieee Access 8 154024 154035
dc.identifier.uri	https://hdl.handle.net/10550/79404
dc.description.abstract	This article develops a human-robot cooperation to carry out treatments such as sanding, polishing, etc. on the surface of a known rigid object. For this purpose, a vision system is considered to get the object location to ensure not only the perpendicularity of the robot tool to the object surface but also a smooth approach of the tool to the surface. In order to add flexibility, the proposal includes the simultaneous combination of automatic and manual modes of operation. Thus, the human user can guide the robot tool to treat arbitrary areas (manual mode) and, when the operator releases the tool, the robot goes into the automatic mode to treat prior established areas. The method uses a task prioritization framework and three types of controllers: an admittance controller for the tool guidance; a hybrid controller to modify the tool orientation and, in the automatic mode, the tool position; and a sliding mode controller to limit the velocity at which the tool approaches the object surface. The applicability and efficacy of the proposed method is demonstrated experimentally using a conventional 6R robot arm.
dc.language.iso	eng
dc.relation.ispartof	Ieee Access, 2020, vol. 8, p. 154024-154035
dc.subject	Robots
dc.subject	Visió artificial (Robòtica)
dc.title	Human-Robot Cooperation for Surface Repair Combining Automatic and Manual Modes
dc.type	journal article	es_ES
dc.date.updated	2021-05-25T13:05:11Z
dc.identifier.doi	10.1109/ACCESS.2020.3014501
dc.identifier.idgrec	146934
dc.rights.accessRights	open access	es_ES