Abstract
Mobile manipulators are robot systems capable of combining logistics and manipulation tasks. They thus fulfill an important prerequisite for the integration into flexible manufacturing systems. Another essential feature required for modern production facilities is a user-friendly and intuitive human-machine interaction. In this work the goal of code-less programming is addressed and an intuitive and safe approach to physically interact with such robot systems is derived. We present a natural approach for hand guiding a sensitive mobile manipulator in task space using a force torque sensor that is mount close to the end effector. The proposed control structure is capable of handling the kinematic redundancies of the system and avoid singular arm configurations by means of haptic feedback to the user. A detailed analysis of all possible singularities of the UR robot family is given and the functionality of the controller design is shown with laboratory experiments on our mobile manipulator.
Highlights
The demand for highly flexible and adaptable robotic systems naturally arises within the manufacturing processes of products with high variability and small lot-sizes
In our previous work [17], we presented a control design for a whole body compliance control of the mobile manipulator but singularity avoidance was not taken into account
We gave a detailed analysis of all possible singularities for the whole UR robot family and pointed out those of the UR10
Summary
The demand for highly flexible and adaptable robotic systems naturally arises within the manufacturing processes of products with high variability and small lot-sizes. Interactions between humans and robots within a shared workplace can be categorized into two distinct scenarios: a service scenario and a process scenario In the former case, a robot is programmed and prepared for a new production process rather infrequently by highly skilled experts. Less complicated interactions are part of the everyday work flow This means that robot reprogramming has to be performed much more frequently by human workers with extensive domain knowledge but usually limited programming skills. This paper is organized as follows: The kinematics and especially the singularity analysis of the serial manipulator UR10 is given, the control structure is discussed, including the motion-distribution between mobile base and serial manipulator and our proposed strategy to avoid approaching singular arm configurations.
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