A novel 3D path following control framework for robots performing surface finishing tasks

Wen, Yalun; Pagilla, Prabhakar R.

doi:10.1016/j.mechatronics.2021.102540

Cited by 18 publications

(10 citation statements)

References 23 publications

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“…The design of path following control strategies for robotic manipulators capable of integrating different control schemes along different DoFs is scarcely addressed in the state of the art [17], [18]. Dahroug et al propose in [17] a visual servoing controller able to follow a desired path keeping a constant remote center of motion.…”

Section: Introductionmentioning

confidence: 99%

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Decoupled Model Predictive Control for Path Following on Complex Surfaces

Santos

Cuau

Poignet

et al. 2023

IEEE Robot. Autom. Lett.

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HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L'archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d'enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.

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Section: Introductionmentioning

confidence: 99%

“…These different aspects are integrated thanks to the application of a task priority strategy. Similarly, Wen and Pagilla introduce in [18] a procedure in which an optimal path is determined based on a sequence of check points. The obtained path is used in an overall scheme integrating path following and force control.…”

Section: Introductionmentioning

confidence: 99%

Decoupled Model Predictive Control for Path Following on Complex Surfaces

Santos

Cuau

Poignet

et al. 2023

IEEE Robot. Autom. Lett.

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“…For the task scenario in Fig. 1, vision/model-based methods [5]- [7] are introduced for acquisition of the basic task information (e.g. workpiece's 3D model), but the accurate skills (e.g.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Virtual Guides for Compliance Control Skill Teaching in Partially Known Tasks

Song

Huang

Xia

et al. 2022

2022 IEEE 17th Conference on Industrial Electronics and Applications (ICIEA)

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Compliant manipulation is widely studied in the domain of robotics due to urgent industrial demands of flexible production. In many tasks that require human demonstration of the end-effector's pose and contact force, cognitive and physical loads on human operators are high. Fortunately, virtual guides (VGs) can effectively assist human users to carry out the corresponding work. This article aims to design an adaptive virtual guides (AVGs) scheme for kinesthetic teaching that can be applied to surface finishing and to reduce human load. For this purpose, the end-effector's orientation is automatically adjusted according to the workpiece's 3D model and the end-effector's position. The force provided by the robot along the end-effector's z-axis is adjustable, which is used to reduce human's control effort for contact force demonstration. Our method utilizes the virtual mass-damper system and joint admittance control model for the AVGs design, whose validity is verified on a Sawyer robot in simulation.

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“…Devine [1] desarrolló un control basado en la tasa de remoción de material para una lijadora robótica teleoperada destinada a la manufactura de paneles interiores de avión. Wen y Pagilla [2] crearon un marco de trabajo del control de trayectorias 3D para robots que realizan tareas de acabado. Pérez Ubeda et al [3] estudiaron el comportamiento del control de fuerza en un robot colaborativo para el lijado de distintos materiales.…”

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Evaluación óptica de la rugosidad superficial en piezas de madera procesadas mediante lijado robotizado

2022

Congreso Iberoamericano De Ingeniería Mecánica-Cibim 2022

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ResumenLa rugosidad superficial es una propiedad importante en la industria de manufactura para evaluar la calidad de sus productos luego de operaciones de acabado. Sin embargo, la evaluación de calidad superficial en productos de madera suele basarse en la inspección subjetiva de los operarios. En este estudio, se propone un método para estimar los parámetros de rugosidad a través de la aplicación de algoritmos en imágenes de piezas de madera procesadas mediante lijado robotizado. Para ello se utiliza un método híbrido basado en la obtención de características usando la matriz de coocurrencia, aplicada en imágenes procesadas con algoritmos de detección de bordes. Las características son evaluadas por medio de una correlación con parámetros de rugosidad superficial. En los resultados se obtienen correlaciones altas, lo que constituye un primer paso en la implementación del

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A novel 3D path following control framework for robots performing surface finishing tasks

Cited by 18 publications

References 23 publications

Decoupled Model Predictive Control for Path Following on Complex Surfaces

Decoupled Model Predictive Control for Path Following on Complex Surfaces

Adaptive Virtual Guides for Compliance Control Skill Teaching in Partially Known Tasks

Evaluación óptica de la rugosidad superficial en piezas de madera procesadas mediante lijado robotizado

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