Empowering robotic solutions are exploited for industrial applications in orderto reduce/limit risk factors related to musculoskeletal disorders (MSDs) and toimprove the capabilities of humans. This paper aims at proposing both (a) thedesign and (b) the control of a cooperative manipulator in order to empower hu-mans in onerous industrial tasks execution. (a) a dual driven actuation (DDA)is proposed and described for the shoulder joint of an empowering roboticsystem. (b) a fuzzy impedance control based approach to assist the human op-erator while lifting (partially) unknown weight components is proposed. Thecontrol method has been validated in a hatrack-like component installation,case-study related to the H2020 CleanSky 2 EURECA project. The proposedapplication has been shown during the KUKA Innovation Award. As a testplatform, a KUKA iiwa 14 R820 has been used.
On the Design and Control of an Empowering Manipulator to Increase the Capabilities of Humans in Industrial Applications.
Loris Roveda
Membro del Collaboration Group
;Alessio PriniMembro del Collaboration Group
;Tito DinonMembro del Collaboration Group
;Shaghayegh HaghshenasMembro del Collaboration Group
;Nicola PedrocchiMembro del Collaboration Group
;Lorenzo Molinari Tosatti.Supervision
2017
Abstract
Empowering robotic solutions are exploited for industrial applications in orderto reduce/limit risk factors related to musculoskeletal disorders (MSDs) and toimprove the capabilities of humans. This paper aims at proposing both (a) thedesign and (b) the control of a cooperative manipulator in order to empower hu-mans in onerous industrial tasks execution. (a) a dual driven actuation (DDA)is proposed and described for the shoulder joint of an empowering roboticsystem. (b) a fuzzy impedance control based approach to assist the human op-erator while lifting (partially) unknown weight components is proposed. Thecontrol method has been validated in a hatrack-like component installation,case-study related to the H2020 CleanSky 2 EURECA project. The proposedapplication has been shown during the KUKA Innovation Award. As a testplatform, a KUKA iiwa 14 R820 has been used.File | Dimensione | Formato | |
---|---|---|---|
2017_CLAWAR_WRAR.pdf
solo utenti autorizzati
Tipologia:
Documento in Post-print
Licenza:
NON PUBBLICO - Accesso privato/ristretto
Dimensione
726.05 kB
Formato
Adobe PDF
|
726.05 kB | Adobe PDF | Visualizza/Apri Richiedi una copia |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.