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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.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.relation.projectID | 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.projectID | info:eu-repo/grantAgreement/GVA//APOSTD%2F2016%2F044/ | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/GVA//APOSTD%2F2017%2F055/ | 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 |