Adaptive Handling Assistance for Industrial Lightweight Robots in Simulation

Balayn A, Queißer J, Wojtynek M, Wrede S (2016)
In: 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR).

Download
OA 1.16 MB
Konferenzbeitrag | Veröffentlicht | Englisch
Abstract / Bemerkung
With the growth of lightweight robots in industry handling assistance becomes more and more important for solving industrial tasks. We present an adaptive compliance control mode for industrial robots based on a learned equilibrium model. This enables us to cope with changing manufacturing environments, attached grippers as well as devices with inaccurate dynamic models, e.g. stiff tubes, wires, protection shields or hose packages. A further feature of the proposed method is the expandability by an additional parameterization that allows to deal with task variability. In this work we evaluate our approach using the example of a task that incorporates variable payloads. All experiments are conducted in a simulation framework to evaluate the feasibility of the proposed approach for industrial robot scenarios.
Erscheinungsjahr
Titel des Konferenzbandes
2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)
Konferenz
2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots
Konferenzort
San Francisco, CA, USA
Konferenzdatum
2016-12-13 – 2016-12-16
PUB-ID

Zitieren

Balayn A, Queißer J, Wojtynek M, Wrede S. Adaptive Handling Assistance for Industrial Lightweight Robots in Simulation. In: 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR). 2016.
Balayn, A., Queißer, J., Wojtynek, M., & Wrede, S. (2016). Adaptive Handling Assistance for Industrial Lightweight Robots in Simulation. 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR). doi:10.1109/SIMPAR.2016.7862347
Balayn, A., Queißer, J., Wojtynek, M., and Wrede, S. (2016). “Adaptive Handling Assistance for Industrial Lightweight Robots in Simulation” in 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR).
Balayn, A., et al., 2016. Adaptive Handling Assistance for Industrial Lightweight Robots in Simulation. In 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR).
A. Balayn, et al., “Adaptive Handling Assistance for Industrial Lightweight Robots in Simulation”, 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 2016.
Balayn, A., Queißer, J., Wojtynek, M., Wrede, S.: Adaptive Handling Assistance for Industrial Lightweight Robots in Simulation. 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR). (2016).
Balayn, Agathe, Queißer, Jeffrey, Wojtynek, Michael, and Wrede, Sebastian. “Adaptive Handling Assistance for Industrial Lightweight Robots in Simulation”. 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR). 2016.
Alle Dateien verfügbar unter der/den folgenden Lizenz(en):
Copyright Statement:
This Item is protected by copyright and/or related rights. [...]
Volltext(e)
Access Level
OA Open Access
Zuletzt Hochgeladen
2017-03-30T19:09:09Z

Export

Markieren/ Markierung löschen
Markierte Publikationen

Open Data PUB

Suchen in

Google Scholar
ISBN Suche