Advanced 3D robot simulation for flexible interactive manual robot guidance—an eRobotics approach

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dc.contributorInternational FAIM Conference 24th : 2014 : San Antonio, Texas
dc.contributorUniversity of Texas at San Antonio. Center for Advanced Manufacturing and Lean Systems
dc.contributor.authorKaigom, Eric Guiffo
dc.contributor.authorRossmann, Jürgen
dc.date.accessioned2022-07-08T15:47:26Z
dc.date.available2022-07-08T15:47:26Z
dc.date.issued2014
dc.descriptionPaper presented at the Proceedings of the 24th International Conference on Flexible Automation & Intelligent Manufacturing, held May 20-23, 2014 in San Antonio, Texas, and organized by the Center for Advanced Manufacturing and Lean Systems, University of Texas at San Antonio
dc.descriptionIncludes bibliographical references
dc.description.abstractManual robot guidance is an intuitive approach to teach robots with human’s skills in the loop. It is particularly useful to manufacturers because of the high flexibility and low programming efforts. However, manual robot guidance requires compliance control that is generally not available in industrial robots. We address this issue with a simulation-based approach. The dynamics of the robot are replicated and its motion is controlled on the simulator, which is enriched with a joint admittance controller driven in real time with external joint torques sensed during interaction with the physical robot. We then virtually transfer the admittance capability by sending back the simulated compliant joint position to the real robot to enable manual guidance. Experimental case studies are provided to illustrate the practical performance and usefulness of the proposed smooth bidirectional transition between 3D simulation and reality, as pursued by eRobotics to address complex issues in industrial automation.
dc.identifier.otherhttp://dx.doi.org/10.14809/faim.2014.0087
dc.identifier.urihttps://hdl.handle.net/20.500.12588/944
dc.language.isoen_US
dc.publisherDEStech Publications, Inc.
dc.relation.ispartofseriesProceedings of the 24th International Conference on Flexible Automation & Intelligent Manufacturing
dc.subjectRobots--Dynamics
dc.subjectRobots--Control systems
dc.subjectRobots, Industrial
dc.subjectManufacturing processes--Automation
dc.titleAdvanced 3D robot simulation for flexible interactive manual robot guidance—an eRobotics approach
dc.typeArticle

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