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Human-robot collaboration for surface treatment tasks

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Human-robot collaboration for surface treatment tasks

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dc.contributor.author Gracia Calandin, Luis Ignacio es_ES
dc.contributor.author Solanes Galbis, Juan Ernesto es_ES
dc.contributor.author Muñoz-Benavent, Pau es_ES
dc.contributor.author Valls Miro, Jaime es_ES
dc.contributor.author Perez-Vidal, Carlos es_ES
dc.contributor.author Tornero Montserrat, Josep es_ES
dc.date.accessioned 2020-12-19T04:31:44Z
dc.date.available 2020-12-19T04:31:44Z
dc.date.issued 2019 es_ES
dc.identifier.issn 1572-0373 es_ES
dc.identifier.uri http://hdl.handle.net/10251/157497
dc.description.abstract [EN] This paper presents a human-robot closely collaborative solution to cooperatively perform surface treatment tasks such as polishing, grinding, finishing, deburring, etc. The proposed scheme is based on task priority and non-conventional sliding mode control. Furthermore, the proposal includes 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 applicability and feasibility of the proposed collaborative solution for robotic surface treatment are substantiated by experimental results using a redundant 7R manipulator: the Sawyer collaborative robot. es_ES
dc.description.sponsorship This work was supported in part by the Spanish Government under the project DPI-201787656-C2-1-R and the Generalitat Valenciana under Grant VALi+d. es_ES
dc.language Inglés es_ES
dc.publisher John Benjamins Publishing Company es_ES
dc.relation.ispartof Interaction Studies es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Cooperative control es_ES
dc.subject Robust control es_ES
dc.subject Robot system es_ES
dc.subject Sliding mode control es_ES
dc.subject.classification ARQUITECTURA Y TECNOLOGIA DE COMPUTADORES es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.title Human-robot collaboration for surface treatment tasks es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1075/is.18010.gra es_ES
dc.relation.projectID info:eu-repo/grantAgreement/GVA//APOSTD%2F2016%2F044/ 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//AEST%2F2019%2F010/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/GVA//ACIF%2F2019%2F007/ 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.contributor.affiliation Universitat Politècnica de València. Departamento de Informática de Sistemas y Computadores - Departament d'Informàtica de Sistemes i Computadors es_ES
dc.description.bibliographicCitation Gracia Calandin, LI.; Solanes Galbis, JE.; Muñoz-Benavent, P.; Valls Miro, J.; Perez-Vidal, C.; Tornero Montserrat, J. (2019). Human-robot collaboration for surface treatment tasks. Interaction Studies. 20(1):148-184. https://doi.org/10.1075/is.18010.gra es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion https://doi.org/10.1075/is.18010.gra es_ES
dc.description.upvformatpinicio 148 es_ES
dc.description.upvformatpfin 184 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 20 es_ES
dc.description.issue 1 es_ES
dc.relation.pasarela S\394961 es_ES
dc.contributor.funder Generalitat Valenciana es_ES
dc.contributor.funder Agencia Estatal de Investigación es_ES
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