Control Strategies for Physical Human—Robot Collaboration
Author
Summary, in English
First, the accuracy of manual robot guidance was increased by reducing the joint static friction without altering the robotic task execution, using additional degrees of freedom (DOFs) available in collaborative robots. Additionally, previous methods for a fast identification of the source of robot—environment physical contact in partially-unknown industrial environments were evaluated, extended, and modified to perform effective manual corrections of the robot motion. Then, an iterative learning method was proposed to achieve a more accurate use of manually-defined trajectories, while allowing a safe physical robot—environment interaction.
Moreover, safety is a major concern in uncertain scenarios where humans and robots collaborate. Regulating the robot—environment interaction forces, e.g., using impedance control, would improve safety, yet undesired parts of the collaborative workspace might need to be entirely avoided. To this purpose, a stable online variation of robot impedance during the manual guidance of the robot was proposed. This proposal was later extended to further improve safety by considering a prediction of human guidance with coordinated robot control. Furthermore, the additional DOFs in collaborative robots were used to develop a stable online impedance variation method for robot obstacle avoidance without requiring modification of the main robot task.
All methods presented were tested experimentally on a real collaborative robot.
Department/s
Publishing year
2024
Language
English
Volume
TFRT-1144
Full text
- Available as PDF - 19 MB
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Document type
Dissertation
Publisher
Department of Automatic Control, Lund Institute of Technology, Lund University
Topic
- Control Engineering
Status
Published
Project
- RobotLab LTH
- Human-Robot Collaboration for Kinesthetic Teaching
Supervisor
- Björn Olofsson
- Rolf Johansson
- Anders Robertsson
ISBN/ISSN/Other
- ISBN: 978-91-8104-024-1
- ISBN: 978-91-8104-023-4
Defence date
7 June 2024
Defence time
10:15
Defence place
M:B, M-building, Ole Römers väg 1, Lund. Zoom: https://lu-se.zoom.us/j/63759419777
Opponent
- Olav Egeland (Professor)