Design of a polishing tool for collaborative robotics using minimum viable product approach

Carlos Perez-Vidal, Luis Gracia (Corresponding author), Samuel Sanchez-Caballero, J. Ernesto Solanes, Alessandro Saccon, Josep Tornero

Research output: Contribution to journalArticleAcademicpeer-review

6 Citations (Scopus)
3 Downloads (Pure)

Abstract

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.

Original languageEnglish
Pages (from-to)848-857
Number of pages10
JournalInternational Journal of Computer Integrated Manufacturing
Volume32
Issue number9
DOIs
Publication statusPublished - 8 Jul 2019

Keywords

  • cooperative polishing
  • human-robot cooperation
  • Polishing tool

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