Human-robot collaboration for object manipulation in manufacturing

Authors
Peng, Yuan-Chih
ORCID
Loading...
Thumbnail Image
Other Contributors
Wen, John T.
Radke, Richard J., 1974-
Julius, Anak Agung
Trinkle, Jeffrey C.
Issue Date
2020-12
Keywords
Electrical engineering
Degree
PhD
Terms of Use
This electronic version is a licensed copy owned by Rensselaer Polytechnic Institute, Troy, NY. Copyright of original work retained by author.
Full Citation
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
Department
Dept. of Electrical, Computer, and Systems Engineering
Publisher
Rensselaer Polytechnic Institute, Troy, NY
Relationships
Rensselaer Theses and Dissertations Online Collection
Access
Restricted to current Rensselaer faculty, staff and students. Access inquiries may be directed to the Rensselaer Libraries.