Ahola et al., 2015 - Google Patents
Development of impedance control for human/robot interactive handling of heavy parts and loadsAhola et al., 2015
- Document ID
- 7021424293400742091
- Author
- Ahola J
- Koskinen J
- Seppälä T
- Heikkilä T
- Publication year
- Publication venue
- International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
External Links
Snippet
This paper introduces a control system for human/robot interactive handling of heavy parts and loads. The aim of the study was to demonstrate the feasibility of human/robot cooperative handling of heavy parts and loads with a robot as a load carrier and a human as …
- 230000002452 interceptive 0 title abstract description 8
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/063—Safety devices working only upon contact with an outside object
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10864632B2 (en) | Direct teaching method of robot | |
| JP5327722B2 (en) | Robot load estimation apparatus and load estimation method | |
| Wang et al. | Robust two-degree-of-freedom iterative learning control for flexibility compensation of industrial robot manipulators | |
| US9555548B2 (en) | Robot control device for controlling robot moved according to applied force | |
| Capurso et al. | Sensorless kinesthetic teaching of robotic manipulators assisted by observer-based force control | |
| Lange et al. | Force and trajectory control of industrial robots in stiff contact | |
| JP2016087700A (en) | Control equipment having feature of verifying designation of load information | |
| JP2012056074A (en) | Workspace safe operation of a force- or impedance-controlled robot | |
| Landi et al. | Tool compensation in walk-through programming for admittance-controlled robots | |
| Ahola et al. | Development of impedance control for human/robot interactive handling of heavy parts and loads | |
| Payo et al. | Force control of a very lightweight single-link flexible arm based on coupling torque feedback | |
| Surdilovic et al. | Development of collaborative robots (cobots) for flexible human-integrated assembly automation | |
| Lange et al. | Revised force control using a compliant sensor with a position controlled robot | |
| Mitsantisuk et al. | Force sensorless control with 3D workspace analysis for haptic devices based on delta robot | |
| Jung et al. | Analysis of position tracking in torque control of humanoid robots considering joint elasticity and time delay | |
| Ma et al. | Control and modeling of an end-effector in a macro-mini manipulator system for industrial applications | |
| Benallegue et al. | On compliance and safety with torque-control for robots with high reduction gears and no joint-torque feedback | |
| Fahmi et al. | Inertial properties in haptic devices: Non-linear inertia shaping vs. force feedforward | |
| Qin et al. | Nonlinear discrete observer for flexibility compensation of industrial robots | |
| Kanık et al. | Toward safe and high-performance human–robot collaboration via implementation of redundancy and understanding the effects of admittance term parameters | |
| JP6668629B2 (en) | Robot controller and robot system | |
| CN117400237A (en) | Track tracking and force compliance control method for rocket solid fuel shaping robot | |
| Li et al. | Variable admittance control with robust adaptive velocity control for dynamic physical interaction between robot, human and environment | |
| Negash et al. | Integral sliding mode controller for trajectory tracking control of Stewart platform manipulator | |
| Shikata et al. | Disturbance-observer-based admittance control and its application to safe contact regulation |