Human-robot cooperation for robust surface treatment using non-conventional sliding mode control
- Publication Type:
- Journal Article
- ISA Transactions, 2018, 80 pp. 528 - 541
- Issue Date:
Files in This Item:
Copyright Clearance Process
- Recently Added
- In Progress
- Open Access
This item is currently unavailable due to the publisher's embargo.
The embargo period expires on 20 Jun 2020
© 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: