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Dual Arm Co-Manipulation Architecture with Enhanced Human-Robot Communication for Large Part Manipulation.

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Path Driven Dual Arm Mobile Co-Manipulation Architecture for Large Part Manipulation in Industrial Environments.

Aitor Ibarguren1, Paul Daelman1

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Summary

This study introduces a path-driven mobile co-manipulation system for industrial collaborative part transportation. The architecture enables safe and efficient robotic assistance for moving large components in workshops.

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assistant robotsforce controlhuman-robot interactionmobile co-manipulationrobotic application

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Area of Science:

  • Robotics
  • Industrial Automation
  • Human-Robot Interaction

Background:

  • Industrial sectors frequently move large parts, consuming significant workforce resources.
  • Implementing robotic solutions for collaborative part transportation presents challenges in force control and human feedback.

Purpose of the Study:

  • To present a novel path-driven mobile co-manipulation architecture for collaborative part transportation.
  • To propose an algorithm addressing all stages of collaborative part conveyance.

Main Methods:

  • Developed a path-driven mobile co-manipulation architecture.
  • Designed an algorithm for generating force-based twist commands.
  • Implemented path management for safe collaborative areas and user feedback systems.

Main Results:

  • The proposed architecture successfully creates collaborative lanes for large component conveyance.
  • Implemented solution and tests demonstrate the system's suitability for assisting operators.
  • A functional robotic system for transporting large parts in workshops was created.

Conclusions:

  • The developed architecture is suitable for collaborative part transportation in industrial settings.
  • The system effectively assists human operators in moving large components.
  • This approach enhances safety and efficiency in workshop material handling.