TY - JOUR
T1 - Design of a polishing tool for collaborative robotics using minimum viable product approach
AU - Perez-Vidal, Carlos
AU - Gracia, Luis
AU - Sanchez-Caballero, Samuel
AU - Solanes, J. Ernesto
AU - Saccon, Alessandro
AU - Tornero, Josep
PY - 2019/7/8
Y1 - 2019/7/8
N2 - A collaborative tool for robotic polishing is developed in this work in order to allow the simultaneous operation of the robot system and human operator to cooperatively carry out the polishing task. For this purpose, the collaborative environment is detailed and the polishing application is designed. Moreover, the polishing tool is developed and its implementation using the minimum viable product approach is obtained. Furthermore, a robust hybrid position-force control is proposed to use the developed tool attached to a robot system and some experiments are given to show its performance.
AB - A collaborative tool for robotic polishing is developed in this work in order to allow the simultaneous operation of the robot system and human operator to cooperatively carry out the polishing task. For this purpose, the collaborative environment is detailed and the polishing application is designed. Moreover, the polishing tool is developed and its implementation using the minimum viable product approach is obtained. Furthermore, a robust hybrid position-force control is proposed to use the developed tool attached to a robot system and some experiments are given to show its performance.
KW - cooperative polishing
KW - human-robot cooperation
KW - Polishing tool
UR - http://www.scopus.com/inward/record.url?scp=85068546912&partnerID=8YFLogxK
U2 - 10.1080/0951192X.2019.1637026
DO - 10.1080/0951192X.2019.1637026
M3 - Article
AN - SCOPUS:85068546912
SN - 0951-192X
VL - 32
SP - 848
EP - 857
JO - International Journal of Computer Integrated Manufacturing
JF - International Journal of Computer Integrated Manufacturing
IS - 9
ER -