Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
5128645 | Procedia Manufacturing | 2017 | 8 Pages |
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 set-up include the robot kinematics and a socket communication that sends a binary file to the robot.
Related Topics
Physical Sciences and Engineering
Engineering
Industrial and Manufacturing Engineering
Authors
Federica Ferraguti, Chiara Talignani Landi, Cristian Secchi, Cesare Fantuzzi, Marco Nolli, Manuel Pesamosca,