Collaboration between humans and robots is increasingly desired in several application domains, including the manufacturing domain. The paper describes a software control architecture for industrial robotic applications allowing human-robot cooperation during the programming phase of a robotic task. The control architecture is based on admittance control and tool dynamics compensation for implementing walk-through programming and manual guidance. Further steps to integrate this system on a real industrial setup include the robot kinematics and a socket communication that sends a binary file to the robot.
Walk-Through Programming for Industrial Applications / Ferraguti, Federica; TALIGNANI LANDI, Chiara; Secchi, Cristian; Nolli, Marco; Pesamosca, Manuel; Fantuzzi, Cesare. - In: PROCEDIA MANUFACTURING. - ISSN 2351-9789. - 11:(2017), pp. 31-38. [10.1016/j.promfg.2017.07.126]
Walk-Through Programming for Industrial Applications
Federica Ferraguti;Chiara Talignani Landi;Cristian Secchi;Cesare Fantuzzi
2017
Abstract
Collaboration between humans and robots is increasingly desired in several application domains, including the manufacturing domain. The paper describes a software control architecture for industrial robotic applications allowing human-robot cooperation during the programming phase of a robotic task. The control architecture is based on admittance control and tool dynamics compensation for implementing walk-through programming and manual guidance. Further steps to integrate this system on a real industrial setup include the robot kinematics and a socket communication that sends a binary file to the robot.
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