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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

ISBN: 978-989-8425-00-3

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.

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Paper citation in several formats:
Kastner M.; Gattringer H.; Bremer H.; Ramsauer M.; Ferrara P. and (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

@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},
}

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

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