Solanes Galbis, Juan Ernesto; Gracia Calandin, Luis Ignacio; Muñoz-Benavent, Pau; Valls Miro, Jaime; Girbés, Vicent; Tornero Montserrat, Josep(Elsevier, 2018)
[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 ...
Solanes Galbis, Juan Ernesto; Gracia Calandin, Luis Ignacio; Muñoz-Benavent, Pau; Valls Miro, Jaime; Perez-Vidal, Carlos; Tornero Montserrat, Josep(ASME International, 2019)
[EN] This work presents a hybrid position-force control of robots for surface polishing using task priority. The robot force control is designed using sliding mode ideas in order to benefit from its inherent robustness and ...