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Path Driven Dual Arm Mobile Co-Manipulation Architecture for Large Part Manipulation in Industrial Environments
Aitor Ibarguren1, Paul Daelman1
1Industry and Transport Division, TECNALIA, Basque Research and Technology Alliance (BRTA), 20009 San Sebastián, Spain.
Sensors (Basel, Switzerland)
|October 13, 2021
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.
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.
