Human-robot collaboration for object manipulation in manufacturing
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Authors
Peng, Yuan-Chih
Issue Date
2020-12
Type
Electronic thesis
Thesis
Thesis
Language
ENG
Keywords
Electrical engineering
Alternative Title
Abstract
First, a multi-robot system is implemented to stably grasp and transport a large load through frictional contacts. A human operator provides motion guidance by directly manipulating the load. Through contact force sensing, the multi-arm/multi-robot system infers the human intent for motion while maintaining the contact force closure condition. The contact forces at the end-effectors need to be carefully managed to avoid possible loss of contact. This is particularly challenging during motion, where the motion-induced inertial force adds a disturbance to the static stable grasp condition. We propose a feedforward force compensation scheme using support vector regression to estimate the inertial force. This enables the robots to coordinate their motion to maintain contacts, avoid slippage, and follow human hand-guided motion.
Description
December 2020
School of Engineering
School of Engineering
Full Citation
Publisher
Rensselaer Polytechnic Institute, Troy, NY