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Human-robot cooperation for robust surface treatment using non-conventional sliding mode control

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Human-robot cooperation for robust surface treatment using non-conventional sliding mode control

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dc.contributor.author Solanes Galbis, Juan Ernesto es_ES
dc.contributor.author Gracia Calandin, Luis Ignacio es_ES
dc.contributor.author Muñoz-Benavent, Pau es_ES
dc.contributor.author Valls Miro, Jaime es_ES
dc.contributor.author Girbés, Vicent es_ES
dc.contributor.author Tornero Montserrat, Josep es_ES
dc.date.accessioned 2019-03-03T21:07:33Z
dc.date.available 2019-03-03T21:07:33Z
dc.date.issued 2018 es_ES
dc.identifier.issn 0019-0578 es_ES
dc.identifier.uri http://hdl.handle.net/10251/117580
dc.description.abstract [EN] This work presents a human-robot closely collaborative solution to cooperatively perform surface treatment tasks such as polishing, grinding, deburring, etc. The method considers two force sensors attached to the manipulator end-effector and tool: one sensor is used to properly accomplish the surface treatment task, while the second one is used by the operator to guide the robot tool. The proposed scheme is based on task priority and adaptive non-conventional sliding mode control. The applicability of the proposed approach is substantiated by experimental results using a redundant 7R manipulator: the Sawyer cobot. es_ES
dc.description.sponsorship This work was supported in part by the Spanish Government under the project DPI2017-87656-C2-1-R and the Generalitat Valenciana under Grants VALi + d APOSTD/2016/044 and APOSTD/2017/055. es_ES
dc.language Inglés es_ES
dc.publisher Elsevier es_ES
dc.relation info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2017-87656-C2-1-R/ES/VISION ARTIFICIAL Y ROBOTICA COLABORATIVA EN PULIDO DE SUPERFICIES EN LA INDUSTRIA/ es_ES
dc.relation GV/APOSTD/2016/044 es_ES
dc.relation GV/APOSTD/2017/055 es_ES
dc.relation.ispartof ISA Transactions es_ES
dc.rights Reconocimiento - No comercial - Sin obra derivada (by-nc-nd) es_ES
dc.subject Cooperative task es_ES
dc.subject Force feedback es_ES
dc.subject Sliding mode control es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.title Human-robot cooperation for robust surface treatment using non-conventional sliding mode control es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1016/j.isatra.2018.05.013 es_ES
dc.rights.accessRights Abierto es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica es_ES
dc.description.bibliographicCitation Solanes Galbis, JE.; Gracia Calandin, LI.; Muñoz-Benavent, P.; Valls Miro, J.; Girbés, V.; Tornero Montserrat, J. (2018). Human-robot cooperation for robust surface treatment using non-conventional sliding mode control. ISA Transactions. 80(1):528-541. https://doi.org/10.1016/j.isatra.2018.05.013 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion http://doi.org/10.1016/j.isatra.2018.05.013 es_ES
dc.description.upvformatpinicio 528 es_ES
dc.description.upvformatpfin 541 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 80 es_ES
dc.description.issue 1 es_ES
dc.identifier.pmid 29935781
dc.relation.pasarela S\373924 es_ES
dc.contributor.funder Generalitat Valenciana es_ES
dc.contributor.funder Agencia Estatal de Investigación es_ES


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