Adaptive Handling Assistance for Industrial Lightweight Robots in Simulation

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

Download
OA 1.16 MB
Conference Paper | English
Abstract
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.
Publishing Year
Conference
2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots
Conference Date
2016-12-13 – 2016-12-16
PUB-ID

Cite this

Balayn A, Queißer J, Wojtynek M, Wrede S. Adaptive Handling Assistance for Industrial Lightweight Robots in Simulation. Presented at the 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots.
Balayn, A., Queißer, J., Wojtynek, M., & Wrede, S. (2016). Adaptive Handling Assistance for Industrial Lightweight Robots in Simulation. Presented at the 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots.
Balayn, A., Queißer, J., Wojtynek, M., and Wrede, S. (2016).“Adaptive Handling Assistance for Industrial Lightweight Robots in Simulation”. Presented at the 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots.
Balayn, A., et al., 2016. Adaptive Handling Assistance for Industrial Lightweight Robots in Simulation. Presented at the 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots
A. Balayn, et al., “Adaptive Handling Assistance for Industrial Lightweight Robots in Simulation”, Presented at the 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, 2016.
Balayn, A., Queißer, J., Wojtynek, M., Wrede, S.: Adaptive Handling Assistance for Industrial Lightweight Robots in Simulation. Presented at the 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (2016).
Balayn, Agathe, Queißer, Jeffrey, Wojtynek, Michael, and Wrede, Sebastian. “Adaptive Handling Assistance for Industrial Lightweight Robots in Simulation”. Presented at the 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, 2016.
All files available under the following license(s):
Copyright Statement:
This Item is protected by copyright and/or related rights. [...]
Main File(s)
File Name
Access Level
OA Open Access
Last Uploaded
2017-03-30T19:09:09Z

This data publication is cited in the following publications:
This publication cites the following data publications:

Export

0 Marked Publications

Open Data PUB

Search this title in

Google Scholar