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.
|Number of pages||10|
|Journal||International Journal of Computer Integrated Manufacturing|
|Publication status||Published - 8 Jul 2019|
- cooperative polishing
- human-robot cooperation
- Polishing tool