INTERACTION OF A FLEXIBLE ROBOT WITH ITS ENVIRONMENT

Michael Kastner, Hubert Gattringer, Hartmut Bremer, Martin Ramsauer, Paolo Ferrara

Abstract

Uncomplicated and safe programming interfaces as well as flexible programs themselves become important when robots are used for small lot size tasks or are operated by personnel without special robotics education. This work takes a look at safe and easy interaction of a flexible articulated robot arm – actuated by fluidic muscles – with its environment. A contact detection scheme for stiff collisions at speeds between 50 and 250mm/s is presented and measurement results are disucussed. Moreover, a programming by demonstration concept is described on the basis of a pick and place task. Both strategies (implemented on a seven axis handling robot) rely on physical models to allow an operation without extra sensors.

References

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Paper Citation


in Harvard Style

Kastner M., Gattringer H., Bremer H., Ramsauer M. and Ferrara P. (2010). INTERACTION OF A FLEXIBLE ROBOT WITH ITS ENVIRONMENT . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8425-00-3, pages 230-233. DOI: 10.5220/0002918402300233


in Bibtex Style

@conference{icinco10,
author={Michael Kastner and Hubert Gattringer and Hartmut Bremer and Martin Ramsauer and Paolo Ferrara},
title={INTERACTION OF A FLEXIBLE ROBOT WITH ITS ENVIRONMENT},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2010},
pages={230-233},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002918402300233},
isbn={978-989-8425-00-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - INTERACTION OF A FLEXIBLE ROBOT WITH ITS ENVIRONMENT
SN - 978-989-8425-00-3
AU - Kastner M.
AU - Gattringer H.
AU - Bremer H.
AU - Ramsauer M.
AU - Ferrara P.
PY - 2010
SP - 230
EP - 233
DO - 10.5220/0002918402300233