Bimanual robot control for surface treatment tasks

Alberto García, J. Ernesto Solanes, Luis Gracia, Pau Muñoz-Benavent, Vicent Girbés-Juan and Josep Tornero

International Journal of Systems Science, 2022, vol. 53, issue 1, 74-107

Abstract: This work develops a method to perform surface treatment tasks using a bimanual robotic system, i.e. two robot arms cooperatively performing the task. In particular, one robot arm holds the workpiece while the other robot arm has the treatment tool attached to its end-effector. Moreover, the human user teleoperates all the six coordinates of the former robot arm and two coordinates of the latter robot arm, i.e. the teleoperator can move the treatment tool on the plane given by the workpiece surface. Furthermore, a force sensor attached to the treatment tool is used to automatically attain the desired pressure between the tool and the workpiece and to automatically keep the tool orientation orthogonal to the workpiece surface. In addition, to assist the human user during the teleoperation, several constraints are defined for both robot arms in order to avoid exceeding the allowed workspace, e.g. to avoid collisions with other objects in the environment. The theory used in this work to develop the bimanual robot control relies on sliding mode control and task prioritisation. Finally, the feasibility and effectiveness of the method are shown through experimental results using two robot arms.

Date: 2022
References: Add references at CitEc
Citations:

Downloads: (external link)
http://hdl.handle.net/10.1080/00207721.2021.1938279 (text/html)
Access to full text is restricted to subscribers.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:taf:tsysxx:v:53:y:2022:i:1:p:74-107

Ordering information: This journal article can be ordered from
http://www.tandfonline.com/pricing/journal/TSYS20

DOI: 10.1080/00207721.2021.1938279

Access Statistics for this article

International Journal of Systems Science is currently edited by Visakan Kadirkamanathan

More articles in International Journal of Systems Science from Taylor & Francis Journals
Bibliographic data for series maintained by Chris Longhurst ().