Precise Robotic Manipulation of Bulky Components

Franceschi, Paolo; Castaman, Nicola; Ghidoni, Stefano; Pedrocchi, Nicola

doi:10.1109/access.2020.3043069

Cited by 17 publications

(3 citation statements)

References 35 publications

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“…where g(•) is the contribution from forces and is unchanged from (8). It can be seen that when M a > 1 2 B a h, a positive δ is carried forward to the next step due to the admittance integrator.…”

Section: End If End Whilementioning

confidence: 99%

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Towards High-Payload Admittance Control for Manual Guidance with Environmental Contact

Haninger,

Radke,

Vick

et al. 2022

Preprint

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Force control enables hands-on teaching and physical collaboration, with the potential to improve ergonomics and flexibility of automation. Established methods for the design of compliance, impedance control, and collision response can achieve free-space stability and acceptable peak contact force on lightweight, lower payload robots. Scaling collaboration to higher payloads can allow new applications, but introduces challenges due to the more significant payload dynamics and the use of higher-payload industrial robots.To achieve high-payload manual guidance with contact, this paper proposes and validates new mechatronic design methods: standard admittance control is extended with damping feedback, compliant structures are integrated to the environment, and a contact response method which allows continuous admittance control is proposed. These methods are compared with respect to free-space stability, contact stability, and peak contact force. The resulting methods are then applied to realize two contact-rich tasks on a 16 kg payload (peg in hole and slot assembly) and free-space co-manipulation of a 50 kg payload.

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Section: End If End Whilementioning

confidence: 99%

“…This project has received funding from the European Union's Horizon 2020 research and innovation programme under grant agreement No 820689 -SHERLOCK. previously required two workers to be done with one [8], [9]. However, increased payload inertia introduces challenges for responsiveness, stability, and safety [4], [10]- [12].…”

Section: Introductionmentioning

confidence: 99%

Towards High-Payload Admittance Control for Manual Guidance with Environmental Contact

Haninger,

Radke,

Vick

et al. 2022

Preprint

View full text Add to dashboard Cite

show abstract

“…In the case of large object manipulation, the precise positioning at the target pose is imposed by assembly tolerances. Still, the connecting trajectory from the picking pose to the target pose can be adjusted [28], [29]. It may also happen that large objects can occlude the human operator's sight, and the robot should prevent collisions with the environment [30].…”

Section: Introductionmentioning

confidence: 99%

Human-Robot Role Arbitration via Differential Game Theory

Franceschi,

Pedrocchi,

Beschi

2024

IEEE Trans. Automat. Sci. Eng.

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The industry needs controllers that allow smooth and natural physical Human-Robot Interaction (pHRI) to make production scenarios more flexible and user-friendly. Within this context, particularly interesting is Role Arbitration, which is the mechanism that assigns the role of the leader to either the human or the robot. This paper investigates Game-Theory (GT) to model pHRI, and specifically, Cooperative Game Theory (CGT) and Non-Cooperative Game Theory (NCGT) are considered. This work proposes a possible solution to the Role Arbitration problem and defines a Role Arbitration framework based on differential game theory to allow pHRI. The proposed method can allow trajectory deformation according to human will, avoiding reaching dangerous situations such as collisions with environmental features, robot joints and workspace limits, and possibly safety constraints. Three sets of experiments are proposed to evaluate different situations and compared with two other standard methods for pHRI, the Impedance Control, and the Manual Guidance. Experiments show that with our Role Arbitration method, different situations can be handled safely and smoothly with a low human effort. In particular, the performances of the IMP and MG vary according to the task. In some cases, MG performs well, and IMP does not. In some others, IMP performs excellently, and MG does not. The proposed Role Arbitration controller performs well in all the cases, showing its superiority and generality. The proposed method generally requires less force and ensures better accuracy in performing all tasks than standard controllers.Note to Practitioners-This work presents a method that allows role arbitration for physical Human-Robot Interaction, motivated by the need to adjust the role of leader/follower in a shared task according to the specific phase of the task or the knowledge of one of the two agents. This method suits applications such as object co-transportation, which requires final precise positioning but allows some trajectory deformation on the fly. It can also handle situations where the carried obstacle occludes human sight, and

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