A Sliding Mode Control Architecture for Human-Manipulator Cooperative Surface Treatment Tasks

Gracia, L; Solanes, JE; Munoz-Benavent, P; Miro, JV; Perez-Vidal, C; Tornero, J

A Sliding Mode Control Architecture for Human-Manipulator Cooperative Surface Treatment Tasks

Gracia, L Solanes, JE Munoz-Benavent, P Miro, JV

Perez-Vidal, C Tornero, J

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Publication Type:: Conference Proceeding
Citation:: IEEE International Conference on Intelligent Robots and Systems, 2018, pp. 1318 - 1325
Issue Date:: 2018-12-27

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Field	Value	Language
dc.contributor.author	Gracia, L	en_US
dc.contributor.author	Solanes, JE	en_US
dc.contributor.author	Munoz-Benavent, P	en_US
dc.contributor.author	Miro, JV https://orcid.org/0000-0002-0083-7797	en_US
dc.contributor.author	Perez-Vidal, C	en_US
dc.contributor.author	Tornero, J	en_US
dc.date.available	2020-10-31T18:07:32Z
dc.date.issued	2018-12-27	en_US
dc.identifier.citation	IEEE International Conference on Intelligent Robots and Systems, 2018, pp. 1318 - 1325	en_US
dc.identifier.isbn	9781538680940	en_US
dc.identifier.issn	2153-0858	en_US
dc.identifier.uri	http://hdl.handle.net/10453/130915
dc.description.abstract	© 2018 IEEE. This paper presents a control architecture readily suitable for surface treatment tasks such as polishing, grinding, finishing or deburring as carried out by a human operator, with the added benefit of accuracy, recurrence and physical strength as administered by a robotic manipulator partner. The shared strategy effectively couples the human operator propioceptive abilities and fine skills through his interactions with the autonomous physical agent. The novel proposed control scheme is based on task prioritization and a non-conventional sliding mode control, which is considered to benefit from its inherent robustness and low computational cost. The system relies on two force sensors, one located between the last link of the robot and the surface treatment tool, and the other located in some place of the robot end-effector: the former is used to suitably accomplish the conditioning task, while the latter is used by the operator to manually guide the robotic tool. When the operator chooses to cease guiding the tool, the robot motion safely switches back to an automatic reference tracking. The paper presents the theories for the novel collaborative controller, whilst its effectiveness for robotic surface treatment is substantiated by experimental results using a redundant 7R manipulator and a mock-up conditioning tool.	en_US
dc.relation.ispartof	IEEE International Conference on Intelligent Robots and Systems	en_US
dc.relation.isbasedon	10.1109/IROS.2018.8593444	en_US
dc.rights	info:eu-repo/semantics/openAccess
dc.title	A Sliding Mode Control Architecture for Human-Manipulator Cooperative Surface Treatment Tasks	en_US
dc.type	Conference Proceeding
utslib.for	0801 Artificial Intelligence and Image Processing	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/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access	*
pubs.publication-status	Published	en_US

Abstract:

© 2018 IEEE. This paper presents a control architecture readily suitable for surface treatment tasks such as polishing, grinding, finishing or deburring as carried out by a human operator, with the added benefit of accuracy, recurrence and physical strength as administered by a robotic manipulator partner. The shared strategy effectively couples the human operator propioceptive abilities and fine skills through his interactions with the autonomous physical agent. The novel proposed control scheme is based on task prioritization and a non-conventional sliding mode control, which is considered to benefit from its inherent robustness and low computational cost. The system relies on two force sensors, one located between the last link of the robot and the surface treatment tool, and the other located in some place of the robot end-effector: the former is used to suitably accomplish the conditioning task, while the latter is used by the operator to manually guide the robotic tool. When the operator chooses to cease guiding the tool, the robot motion safely switches back to an automatic reference tracking. The paper presents the theories for the novel collaborative controller, whilst its effectiveness for robotic surface treatment is substantiated by experimental results using a redundant 7R manipulator and a mock-up conditioning tool.

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http://hdl.handle.net/10453/130915