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Empowering robotic solutions are exploited for industrial applications in order to reduce/limit risk factors related to musculoskeletal disorders (MSDs) and to improve the capabilities of humans. This paper aims at proposing both (a) the design and (b) the control of a cooperative manipulator in order to empower humans in onerous industrial tasks execution. (a) a dual driven actuation (DDA) is proposed and described for the shoulder joint of an empowering robotic system. (b) a fuzzy impedance control based approach to assist the human operator while lifting (partially) unknown weight components is proposed. The control method has been validated in a hatrack-like component installation, case-study related to the H2020 CleanSky 2 EURECA project. The proposed application has been shown during the KUKA Innovation Award. As a test platform, 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

Roveda, Loris^{Co-primo

Membro del Collaboration Group};Prini, Alessio^{Co-primo

Membro del Collaboration Group};Dinon, Tito^{Co-primo

Membro del Collaboration Group};Haghshenas, Shaghayegh^{Secondo

Membro del Collaboration Group};Pedrocchi, Nicola^{Co-ultimo

Membro del Collaboration Group};Molinari Tosatti, Lorenzo^{Co-ultimo

Supervision}

2018

Abstract

Empowering robotic solutions are exploited for industrial applications in order to reduce/limit risk factors related to musculoskeletal disorders (MSDs) and to improve the capabilities of humans. This paper aims at proposing both (a) the design and (b) the control of a cooperative manipulator in order to empower humans in onerous industrial tasks execution. (a) a dual driven actuation (DDA) is proposed and described for the shoulder joint of an empowering robotic system. (b) a fuzzy impedance control based approach to assist the human operator while lifting (partially) unknown weight components is proposed. The control method has been validated in a hatrack-like component installation, case-study related to the H2020 CleanSky 2 EURECA project. The proposed application has been shown during the KUKA Innovation Award. As a test platform, a KUKA iiwa 14 R820 has been used.

Scheda breve

Scheda completa

Scheda completa (DC)

	Anno
	
				2018
			
	Strutture organizzative
	
				Istituto di Sistemi e Tecnologie Industriali Intelligenti per il Manifatturiero Avanzato - STIIMA (ex ITIA)
			
	Lingua/e
	
				Inglese
			
	Supervisori e coordinatori esterni
	
				Manuel F Silva (Porto Polytechnic, Portugal), Gurvinder S Virk (CLAWAR Association Ltd, UK), Mohammad O Tokhi (London South Bank University, UK), Benedita Malheiro (Porto Polytechnic, Portugal), Paulo Ferreira (Porto Polytechnic, Portugal) and Pedro Guedes (Porto Polytechnic, Portugal)
			
	Titolo del Volume
	
				Human-Centric Robotics - Proceedings of the 20th International Conference on CLAWAR 2017
			
	Relazione
	
				Contributo
			
	Titolo del convegno
	
				CLAWAR 2017: 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
			
	Da pagina
	
				621
			
	A pagina
	
				628
			
	Numero di pagine
	
				8
			
	Codice ISBN
	
				978-981-3231-05-4
			
	Codice DOI
	
				https://dx.doi.org/10.1142/9789813231047_0075
			
	URL
	
				https://www.worldscientific.com/doi/abs/10.1142/9789813231047_0075
			
	Referee
	
				Sì, ma tipo non specificato
			
	Periodo del Convegno
	
				11 - 13 September 2017
			
	Luogo del Convegno
	
				Porto, Portugal
			
	Rilevanza
	
				Internazionale
			
	Parole chiave
	
				Compliant actuation
Cooperative onerous industrial tasks
Empowering robotics
Impedance control
Mechanical and control design
			
	Codice Scopus
	
				2-s2.0-85073053565
			
	Formato
	
				Elettronico
			
	Numero autori
	
				7
			
	Fulltext
	
				restricted
			
	Tutti gli autori
	
						Roveda, Loris; Prini, Alessio; Dinon, Tito; Haghshenas, Shaghayegh; Pedrocchi, Nicola; Braghin, Francesco; Molinari Tosatti, Lorenzo
					
	Tipologia Login Miur
	
				273
			
	Tipologia
	
				info:eu-repo/semantics/conferenceObject
			
	Tipologia
	
				04 Contributo in convegno::04.01 Contributo in Atti di convegno
			
	Identificativo progetto
	
	Titolo Progetto
	
									Enhanced Human Robot cooperation in Cabin Assembly tasks
								
	Acronimo
	
									EURECA
								
	Nome finanziatore
	
										European Commission
									
	Finanziamento
	
									H2020
								
	N. Contratto
	
									738039
								
	Appare nelle tipologie:
	
				04.01 Contributo in Atti di convegno

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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/20.500.14243/369456

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