Hostname: page-component-78c5997874-8bhkd Total loading time: 0 Render date: 2024-11-05T16:56:18.285Z Has data issue: false hasContentIssue false
  • English
  • Français

Walk-through programming for robotic manipulators based on admittance control

Published online by Cambridge University Press:  14 May 2013

Luca Bascetta ,
Gianni Ferretti ,
Gianantonio Magnani  and
Paolo Rocco
Luca Bascetta*
Affiliation:
Politecnico di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria, Piazza Leonardo da Vinci 32, 20133 Milano, Italy
Gianni Ferretti
Affiliation:
Politecnico di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria, Piazza Leonardo da Vinci 32, 20133 Milano, Italy
Gianantonio Magnani
Affiliation:
Politecnico di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria, Piazza Leonardo da Vinci 32, 20133 Milano, Italy
Paolo Rocco
Affiliation:
Politecnico di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria, Piazza Leonardo da Vinci 32, 20133 Milano, Italy
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

The present paper addresses the issues that should be covered in order to develop walk-through programming techniques (i.e. a manual guidance of the robot) in an industrial scenario. First, an exact formulation of the dynamics of the tool the human should feel when interacting with the robot is presented. Then, the paper discusses a way to implement such dynamics on an industrial robot equipped with an open robot control system and a wrist force/torque sensor, as well as the safety issues related to the walk-through programming. In particular, two strategies that make use of admittance control to constrain the robot motion are presented. One slows down the robot when the velocity of the tool centre point exceeds a specified safety limit, the other one limits the robot workspace by way of virtual safety surfaces. Experimental results on a COMAU Smart Six robot are presented, showing the performance of the walk-through programming system endowed with the two proposed safety strategies.

Keywords

Force controlControl of robotic systemsHaptic interfacesMan–Machine systemsAutomation
Type
Articles
Information
Robotica , Volume 31 , Issue 7 , October 2013 , pp. 1143 - 1153
Copyright
Copyright © Cambridge University Press 2013 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.COMEDI, “Linux Control and Measurement Device Interface,” available at: http://www.comedi.org.Google Scholar
2.“RTAI – Real Time Application Interface,” available at: http://www.rtai.org.Google Scholar
3.“RTne – Hard Real-Time Networking for Real-Time Linux,” available at: http://www.rtnet.org.Google Scholar
4.Comau Robotics instruction handbook C4G OPEN System Software Rel. 3.33, 2011.Google Scholar
5.ISO 10218-1:2011 Robots for industrial environments: Safety requirements–Part 1: Robot (European Committee for Standardization, 2011).Google Scholar
6.Al-Jarrah, O. M. and Zheng, Y. F., “Arm-Manipulator Coordination for Load Sharing using Compliant Control,” Proceedings of the IEEE International Conference on Robotics and Automation, Minneapolis, MN (Apr. 1996) pp. 1000–1005.CrossRefGoogle Scholar
7.Al-Jarrah, O. M. and Zheng, Y. F., “Arm-Manipulator Coordination for Load Sharing Using Reflexive Motion Control,” Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, NM (Apr. 1997) pp. 2326–2331.CrossRefGoogle Scholar
8.Al-Jarrah, O. M. and Zheng, Y. F., “Arm-Manipulator Coordination for Load Sharing Using Variable Compliance Control,” Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, NM (Apr. 1997) pp. 895–900.CrossRefGoogle Scholar
9.Albu-Schaeffer, A. and Hirzinger, G., “Cartesian Impedance Control Techniques for Torque Controlled Light-Weight Robots,” Proceedings of the IEEE International Conference on Robotics and Automation, Washington, DC, USA (2002) pp. 657–663.Google Scholar
10.Ang, H., Lin, W. and Lim, S.-Y., “A walk-through programmed robot for welding in shipyards,” Ind. Robots 26 (5), 377–388 (1999).CrossRefGoogle Scholar
11.Ang, M. H. Jr and Yong, L. S., “An Industrial Application of Control of Dynamic Behavior of Robots – A Walk-Through Programmed Welding Robot,” Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, CA, USA (Apr. 2000) pp. 2352–2357.Google Scholar
12.Ferretti, G., Magnani, G. and Rocco, P., “Assigning Virtual Tool Dynamics to an Industrial Robot Through an Admittance Controller,” Proceedings of the IEEE International Conference on Advanced Robotics, Munich, Bavaria (Jun. 2009) pp. 1–6.Google Scholar
13.Frigola, M., Poyatos, J., Casals, A. and Amat, J., “Improving Robot Programming Flexibility Through Physical Human-Robot Interaction,” IROS Workshop on Robot Programming by Demonstration, Las Vegas, USA (Oct. 2003) pp. 1–8.Google Scholar
14.Grunwald, G., Schreiber, G., Albu-Schaffer, A. and Hirzinger, G., “Programming by touch: The different way of human-robot interaction,” IEEE Trans. Ind. Electron. 50 (4), 659–666 (2003).CrossRefGoogle Scholar
15.Gupta, A. K. and Arora, S. K., Industrial Automation and Robotics (Laxmi Publications, Daryaganj, New Delhi, 2007).Google Scholar
16.Ikeura, R. and Inooka, H., “Variable Impedance Control of a Robot for Cooperation with a Human,” Proceedings of the IEEE International Conference on Robotics and Automation, phNagoya, Japan (1995) pp. 3097–3102.CrossRefGoogle Scholar
17.Jakopec, M., Harris, S. J., y Baena, F. Rodriguez, Gomes, P., Cobb, J. and Davies, B. L., “The first clinical application of a “hands-on” robotic knee surgery system,” Comput. Aided Surg. 6 (6), 329–339 (2001).CrossRefGoogle ScholarPubMed
18.Kumar, R., Berkelman, P., Gupta, P., Barnes, A., Jensen, P. S., Whitcomb, L. L. and Taylor, R. H., “Preliminary Experiments in Cooperative Human/Robot Force Control for Robot Assisted Microsurgical Manipulation,” Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, CA (Apr. 2000) pp. 610–617.Google Scholar
19.Occupational Safety and Health Administration (OSHA), OSHA Technical Manual, Industrial robots and robot system safety (Section IV, Chapter 4). U.S. Department of Labor Occupational Safety & Health Administration, NW, Washington, DC.Google Scholar
20.Ortmaier, T., Weiss, H., Hagn, U., Grebenstein, M., Nickl, M., Albu-Schäffer, A., Ott, C., Jörg, S., Konietschke, R., Le-Tien, L. and Hirzinger, G., “A Hands-on-Robot for Accurate Placement of Pedicle Screws,” Proceedings of the IEEE International Conference on Robotics and Automation, Orlando, FL (May 2006) pp. 4179–4186.Google Scholar
21.Powell, C., “Case study: Kuntz Electroplating automated wheel polishing system,” Robotics (available at: http://www.robotics.org) (2002).Google Scholar
22.ABB Robotics, FC Programming Handle (2010).Google Scholar
23.Tellaeche, A., Arana, R., Pérez, M. A. and Maurtua, I., “Accurate Manual Guided Robot Programming and Trajectory Correction using 3D Vision by Laser Triangulation,” Workshop Industry–Academia Collaboration in the ECHORD Project: A Bridge for European Robotics Innovation, IEEE International Conference on Robotics and Automation, St. Paul, Minnesota, USA (2012) pp. 385–394.Google Scholar
24.Tsumugiwa, T., Yokogawa, R. and Yoshida, K., “Stability Analysis for Impedance Control of Robot for Human-Robot Cooperative Task System,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan (Oct. 2004) pp. 3883–3888.Google Scholar