Self-Guided Lab Lesson to Estimate a Robot's Position Using Distance Sensors

Quintana, José; Rodriguez, Hector; González, Lucas; Díaz, Moisés

doi:10.1109/taee54169.2022.9840569

Cited by 2 publications

(1 citation statement)

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“…The trajectories shown in Figure 7, with the two speed profiles, were programmed. To verify that the programmed movements were executed by the robot correctly, the sensor described in [19] was used. This sensor has an accuracy of a few millimeters and a sample rate of 200 samples per second.…”

Section: Applying the Speed Profiles To The Robotmentioning

confidence: 99%

Uniform vs. Lognormal Kinematics in Robots: Perceptual Preferences for Robotic Movements

et al. 2022

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Collaborative robots or cobots interact with humans in a common work environment. In cobots, one under-investigated but important issue is related to their movement and how it is perceived by humans. This paper tries to analyze whether humans prefer a robot moving in a human or in a robotic fashion. To this end, the present work lays out what differentiates the movement performed by an industrial robotic arm from that performed by a human one. The main difference lies in the fact that the robotic movement has a trapezoidal speed profile, while for the human arm, the speed profile is bell-shaped and during complex movements, it can be considered as a sum of superimposed bell-shaped movements. Based on the lognormality principle, a procedure was developed for a robotic arm to perform human-like movements. Both speed profiles were implemented in two industrial robots, namely, an ABB IRB 120 and a Universal Robot UR3. Three tests were used to study the subjects’ preference when seeing both movements and another analyzed the same when interacting with the robot by touching its ends with their fingers.

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Section: Applying the Speed Profiles To The Robotmentioning

confidence: 99%