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Article published In: Human Robot Collaborative Intelligence: Theory and applications
Edited by Chenguang Yang, Xiaofeng Liu, Junpei Zhong and Angelo Cangelosi
[Interaction Studies 20:1] 2019
► pp. 148–184

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Human-robot collaboration for surface treatment tasks

 | Universitat Politècnica de València
 | Universitat Politècnica de València
 | Universitat Politècnica de València
 | University of Technology Sydney
 | Universidad Miguel Hernández
 | Universitat Politècnica de València
Published online: 15 July 2019
DOI logo with link
https://doi.org/10.1075/is.18010.gra
Abstract
This paper presents a human-robot closely collaborative solution to cooperatively perform surface treatment tasks such as polishing, grinding, finishing, deburring, etc. The proposed scheme is based on task priority and non-conventional sliding mode control. Furthermore, the proposal includes 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 applicability and feasibility of the proposed collaborative solution for robotic surface treatment are substantiated by experimental results using a redundant 7R manipulator: the Sawyer collaborative robot.
Article outline
  • 1.Introduction
  • 2.Preliminaries
    • Kinematics
    • Robot control
    • Task-priority scheme
  • 3.Sliding mode control
    • 3.1Conventional SMC to satisfy equality constraints
    • 3.2One-side SMC to satisfy inequality constraints
    • 3.3Modified constraints
    • 3.4Chattering
  • 4.Proposed approach
    • 4.1Overview of method
    • 4.2Lie derivatives
    • 4.3Force model
    • 4.4Level 1: Constraints for the surface treatment task
    • 4.5Level 2: Constraint to track human operator’s forces
    • 4.6Level 3: Speed reduction
    • 4.7Level 4: Home configuration
    • 4.8Additional remarks
      • Control action
      • Time derivatives
    • 4.9Guidelines to design the control parameters
  • 5.Evaluation of the proposed control method
  • 6.Controller implementation
  • 7.Real experimentation
    • 7.1Setup
    • 7.2Experiment conditions
    • 7.3Results
    • 7.4Chattering-free methods
  • 8.Conclusions
  • Note
  • References
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