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Bimanual robot control for surface treatment tasks

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Bimanual robot control for surface treatment tasks

dc.contributor.author	García, Alberto
dc.contributor.author	Solanes, Juan Ernesto
dc.contributor.author	Gracia Calandín, Luis
dc.contributor.author	Muñoz Benavent, Pau
dc.contributor.author	Girbés, Vicent
dc.contributor.author	Tornero, Josep
dc.date.accessioned	2023-05-15T16:30:34Z
dc.date.available	2023-05-15T16:30:34Z
dc.date.issued	2022
dc.identifier.citation	García, Alberto Solanes, Juan Ernesto Gracia Calandín, Luis Muñoz Benavent, Pau Girbés, Vicent Tornero, Josep 2022 Bimanual robot control for surface treatment tasks International Journal of Systems Science 53 1 74 107
dc.identifier.uri	https://hdl.handle.net/10550/86610
dc.description.abstract	This work develops a method to perform surface treatment tasks using a bimanual robotic system, i.e. two robot arms cooperatively performing the task. In particular, one robot arm holds the workpiece while the other robot arm has the treatment tool attached to its end-effector. Moreover, the human user teleoperates all the six coordinates of the former robot arm and two coordinates of the latter robot arm, i.e. the teleoperator can move the treatment tool on the plane given by the workpiece surface. Furthermore, a force sensor attached to the treatment tool is used to automatically attain the desired pressure between the tool and the workpiece and to automatically keep the tool orientation orthogonal to the workpiece surface. In addition, to assist the human user during the teleoperation, several constraints are defined for both robot arms in order to avoid exceeding the allowed workspace, e.g. to avoid collisions with other objects in the environment. The theory used in this work to develop the bimanual robot control relies on sliding mode control and task prioritisation. Finally, the feasibility and effectiveness of the method are shown through experimental results using two robot arms.
dc.language.iso	eng
dc.relation.ispartof	International Journal of Systems Science, 2022, vol. 53, num. 1, p. 74-107
dc.subject	Electrònica
dc.subject	Ciència
dc.title	Bimanual robot control for surface treatment tasks
dc.type	journal article
dc.date.updated	2023-05-15T16:30:35Z
dc.identifier.doi	10.1080/00207721.2021.1938279
dc.identifier.idgrec	158295
dc.rights.accessRights	open access