Authors:
Michael Kastner
1
;
Hubert Gattringer
1
;
Hartmut Bremer
2
;
Martin Ramsauer
3
and
Paolo Ferrara
3
Affiliations:
1
Johannes Kepler University, Austria
;
2
University of Linz, Austria
;
3
FerRobotics Compliant Robot Technology GmbH, Austria
Keyword(s):
Fludic Muscles, Pneumatic Robot, Contact Detection, Interactive Programming, Human Robot Interaction.
Related
Ontology
Subjects/Areas/Topics:
Human-Robots Interfaces
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mechatronic Systems
;
Modeling, Simulation and Architectures
;
Robot Design, Development and Control
;
Robotics and Automation
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.