Abstract
Collaborative part transportation is an interesting application as many industrial sectors require moving large parts among different areas of the workshops, using a large amount of the workforce on this tasks. Even so, the implementation of such kinds of robotic solutions raises technical challenges like force-based control or robot-to-human feedback. This paper presents a path-driven mobile co-manipulation architecture, proposing an algorithm that deals with all the steps of collaborative part transportation. Starting from the generation of force-based twist commands, continuing with the path management for the definition of safe and collaborative areas, and finishing with the feedback provided to the system users, the proposed approach allows creating collaborative lanes for the conveyance of large components. The implemented solution and performed tests show the suitability of the proposed architecture, allowing the creation of a functional robotic system able to assist operators transporting large parts on workshops.
Highlights
The emergence of collaborative robotics is changing the way of developing new robotic applications, especially in those cases involving cooperative tasks between humans and robots
This kind of cooperative task raises many technical challenges, ranging from the use of force feedback to guide the collaborative process [1] to the analysis of the social and psychological aspects of the acceptance of these new technologies [2]
Robotic part transportation is a compelling application as many industrial sectors such as the aeronautic [3,4] or automotive [5,6] require moving large parts among different areas of the workshops, using a large amount of the workforce on tasks with no added value
Summary
This paper presents a path-driven dual-arm co-manipulation architecture for large part transportation This architecture addresses three key aspects of the collaborative part transportation task: (1) Human-driven mobile co-manipulation, (2) soft superposition of navigation trajectories to the co-manipulation task to ensure safety zones within the workshop, and (3) robot-to-human feedback to guide and facilitate the collaborative task. The architecture tackles these three topics, proposing a new scheme that addresses issues for the industrial implementation of this kind of systems like safety and real-time feedback of the process state.
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