Application of Shared Telerobotic Control for Contour Following Processes
نویسندگان
چکیده
The paper outlines the development of a telerobotic control system with a focus on maximising the versatility of both production equipment and human operators. This was achieved by integrating sensory feedback from end effectors into the human-machine control loop. For most robotic applications, the robot executes a series of point-to-point movements along a predefined path. When an application requires the tool to follow an undefined object geometry, the process of contour following demands continuous adaptation of its path and complex articulation of the robotic arm. To overcome the resultant limitation in processing speed, a 3 DOF compliant sensing tool was developed. It features tactile sensors to determine surface geometry and active compliance to allow the tool to maintain orthogonality with surface during rapid contour following. The adaptive controller derives a vector-based projection of the robot path based on sensory and user data. This paper presents the concept, tool development and laboratory testing involving a 6-DOF industrial robot.
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