Abstract
The demand for a highly flexible and adaptable industrial infrastructure has gained importance due to increasing product variability, small batch sizes and the need for cost-effective production. Moving from fixed production lines towards mobile manipulation with the possibility for fast and easy reprogramming could provide a solution for these challenges. The ambitious goal of completely programming robot systems without a single line of code is being addressed in this work. More specifically, we present an efficient and natural approach for programming sensitive mobile manipulators through hand guidance using a force torque-sensor that is mounted close to the end effector. The proposed control strategy is explained in detail and results of conducted laboratory tests are presented.
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Acknowledgements
This research was funded by the Austrian Ministry for Transport, Innovation and Technology (BMVIT) within the framework of the sponsorship agreement formed for 2015–2018 under the project CollRob.
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Weyrer, M., Brandstötter, M., Mirkovic, D. (2019). Intuitive Hand Guidance of a Force-Controlled Sensitive Mobile Manipulator. In: Gasparetto, A., Ceccarelli, M. (eds) Mechanism Design for Robotics. MEDER 2018. Mechanisms and Machine Science, vol 66. Springer, Cham. https://doi.org/10.1007/978-3-030-00365-4_43
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DOI: https://doi.org/10.1007/978-3-030-00365-4_43
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