文章基本信息

标题：Collaborative Synchronization of a 7-Axis Robot
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作者：T. Weingartshofer ; M. Schwegel ; C. Hartl-Nesic 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：15
页码：507-512
DOI：10.1016/j.ifacol.2019.11.726
语种：English
出版社：Elsevier
摘要：This work focuses on synchronizing a 7-axis industrial robot with an object that is moved in the workspace by a human operator. In an experimental setup, the robot draws several curves on the moving object, where all 7 axes of the robot are in use. Based on feedback linearization, an active compliance control strategy is developed to synchronize the end-effector with the moving object. The path progress on the curve is dynamically monitored in order to stop it, if the object is moving too fast. Experiments show that a precise tracking accuracy is achieved besides a good human-robot usability.
关键词：KeywordsSynchronizationHuman-Robot CollaborationRobot dynamicsRobot controlLyapunov stabilityPath planning