dc.contributor.author |
García-Fernández, Alberto
|
es_ES |
dc.contributor.author |
Gracia Calandin, Luis Ignacio
|
es_ES |
dc.contributor.author |
Solanes Galbis, Juan Ernesto
|
es_ES |
dc.contributor.author |
Girbés-Juan, Vicent
|
es_ES |
dc.contributor.author |
Perez-Vidal, Carlos
|
es_ES |
dc.contributor.author |
Tornero Montserrat, Josep
|
es_ES |
dc.date.accessioned |
2022-05-10T18:06:41Z |
|
dc.date.available |
2022-05-10T18:06:41Z |
|
dc.date.issued |
2021-08 |
es_ES |
dc.identifier.issn |
0360-8352 |
es_ES |
dc.identifier.uri |
http://hdl.handle.net/10251/182479 |
|
dc.description.abstract |
[EN] Surface treatment operations, such as sanding, deburring, finishing, grinding, polishing, etc. are progressively becoming more automated using robotic systems. However, previous research in this field used a completely automatic operation of the robot system or considered a low degree of human-robot interaction. Therefore, to overcome this issue, this work develops a truly synergistic cooperation between the human operator and the robot system to get the best from both. In particular, in the application developed in this work the human operator provides flexibility, guiding the tool of the robot system to treat arbitrary regions of the workpiece surface; while the robot system provides strength, accuracy and security, not only holding the tool and keeping the right tool orientation, but also guaranteeing a smooth approach to the workpiece and confining the tool within the allowed area close to the workpiece. Moreover, to add more flexibility to the proposed method, when the user is not guiding the robot tool, a robot automatic operation is activated to perform the treatment in prior established regions. Furthermore, a camera network is used to get a global view of the robot workspace in order to obtain the workpiece location accurately and in real-time. The effectiveness of the proposed approach is shown with several experiments using a 6R robotic arm. |
es_ES |
dc.description.sponsorship |
This research was founded by the Spanish Government and the Generalitat Valenciana under Grants PID2020-117421RB-C21, GV/2021/181 and ACIF/2019/007. |
es_ES |
dc.language |
Inglés |
es_ES |
dc.publisher |
Elsevier |
es_ES |
dc.relation.ispartof |
Computers & Industrial Engineering |
es_ES |
dc.rights |
Reconocimiento - No comercial - Sin obra derivada (by-nc-nd) |
es_ES |
dc.subject |
Human-robot cooperation |
es_ES |
dc.subject |
Smooth approach |
es_ES |
dc.subject |
Boundary constraints |
es_ES |
dc.subject.classification |
INGENIERIA DE SISTEMAS Y AUTOMATICA |
es_ES |
dc.title |
Robotic assistance for industrial sanding with a smooth approach to the surface and boundary constraints |
es_ES |
dc.type |
Artículo |
es_ES |
dc.identifier.doi |
10.1016/j.cie.2021.107366 |
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/GENERALITAT VALENCIANA//AEST%2F2019%2F010//AYUDA ESTANCIA EN EMPRESA FORD ESPAÑA S.A. "ROBOTICA INDUSTRIAL/COLABORATIVA EN EL PROCESO DE LIJADO/PULIDO DE CARROCERIAS DE AUTOMOVIL"/ |
es_ES |
dc.relation.projectID |
info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/PID2020-117421RB-C21/ES/PULIDO ROBOTIZADO AVANZADO DE SUPERFICIES EN LA INDUSTRIA DEL AUTOMOVIL/ |
es_ES |
dc.relation.projectID |
info:eu-repo/grantAgreement/GENERALITAT VALENCIANA//ACIF%2F2019%2F007//AYUDA PREDOCTORAL GVA-GARCIA FERNANDEZ. PROYECTO: COLABORACION HUMANO-ROBOT ROBUSTA PARA TAREAS DE PULIDO EN LA INDUSTRIA DE LA AUTOMOCION./ |
es_ES |
dc.relation.projectID |
info:eu-repo/grantAgreement/GENERALITAT VALENCIANA//GV%2F2021%2F181//Interacción humano-robot avanzada basada en realidad mixta y fusión sensorial para operaciones de tratamiento de superficies de productos manufacturados./ |
es_ES |
dc.relation.projectID |
info:eu-repo/grantAgreement/GENERALITAT VALENCIANA//AEST%2F2021%2F079//ESTANCIA ALFATEC. DETECCIÓN Y CLASIFICACIÓN DE DEFECTOS.../ |
es_ES |
dc.rights.accessRights |
Abierto |
es_ES |
dc.contributor.affiliation |
Universitat Politècnica de València. Instituto de Diseño para la Fabricación y Producción Automatizada - Institut de Disseny per a la Fabricació i Producció Automatitzada |
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 |
García-Fernández, A.; Gracia Calandin, LI.; Solanes Galbis, JE.; Girbés-Juan, V.; Perez-Vidal, C.; Tornero Montserrat, J. (2021). Robotic assistance for industrial sanding with a smooth approach to the surface and boundary constraints. Computers & Industrial Engineering. 158:1-16. https://doi.org/10.1016/j.cie.2021.107366 |
es_ES |
dc.description.accrualMethod |
S |
es_ES |
dc.relation.publisherversion |
https://doi.org/10.1016/j.cie.2021.107366 |
es_ES |
dc.description.upvformatpinicio |
1 |
es_ES |
dc.description.upvformatpfin |
16 |
es_ES |
dc.type.version |
info:eu-repo/semantics/publishedVersion |
es_ES |
dc.description.volume |
158 |
es_ES |
dc.relation.pasarela |
S\438044 |
es_ES |
dc.contributor.funder |
GENERALITAT VALENCIANA |
es_ES |
dc.contributor.funder |
AGENCIA ESTATAL DE INVESTIGACION |
es_ES |
dc.contributor.funder |
UNIVERSIDAD POLITECNICA DE VALENCIA |
es_ES |