Control Strategies for Dual Arm Co-Manipulation of Flexible Objects in Industrial Environments

Aitor Ibarguren; Paul Daelman; Miguel Prada

doi:10.1109/ICPS48405.2020.9274711

Control Strategies for Dual Arm Co-Manipulation of Flexible Objects in Industrial Environments

Aitor Ibarguren
, Paul Daelman
, Miguel Prada

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

9 Citations (Scopus)

Abstract

The introduction of collaborative robots had a great impact in the development of robotic solutions for cooperative tasks typically performed by humans, specially in industrial environments where robots can act as assistants of operators. Even so, the coordinated manipulation of large and deformable parts between dual arm robots and humans rises many technical challenges, ranging from the coordination of both robotic arms to the detection of the forces applied by the operator. This paper presents a novel control architecture for the execution of trajectory driven collaborative tasks, combining impedance control and trajectory coordination in the control loop. The obtained results demonstrate the validity of the implemented control architecture as well as its suitability for the implementation of collaborative cyber-physical systems.

Original language	English
Title of host publication	Proceedings - 2020 IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	514-519
Number of pages	6
ISBN (Electronic)	9781728163895
DOIs	https://doi.org/10.1109/ICPS48405.2020.9274711
Publication status	Published - 10 Jun 2020
Event	3rd IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020 - Virtual, Tampere, Finland Duration: 10 Jun 2020 → 12 Jun 2020

Publication series

Name	Proceedings - 2020 IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020

Conference

Conference	3rd IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020
Country/Territory	Finland
City	Virtual, Tampere
Period	10/06/20 → 12/06/20

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

Keywords

co-manipulation
dual-arm
impedance control

Access to Document

10.1109/ICPS48405.2020.9274711

Cite this

Ibarguren, A., Daelman, P., & Prada, M. (2020). Control Strategies for Dual Arm Co-Manipulation of Flexible Objects in Industrial Environments. In Proceedings - 2020 IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020 (pp. 514-519). Article 9274711 (Proceedings - 2020 IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICPS48405.2020.9274711

Ibarguren, Aitor ; Daelman, Paul ; Prada, Miguel. / Control Strategies for Dual Arm Co-Manipulation of Flexible Objects in Industrial Environments. Proceedings - 2020 IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020. Institute of Electrical and Electronics Engineers Inc., 2020. pp. 514-519 (Proceedings - 2020 IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020).

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title = "Control Strategies for Dual Arm Co-Manipulation of Flexible Objects in Industrial Environments",

abstract = "The introduction of collaborative robots had a great impact in the development of robotic solutions for cooperative tasks typically performed by humans, specially in industrial environments where robots can act as assistants of operators. Even so, the coordinated manipulation of large and deformable parts between dual arm robots and humans rises many technical challenges, ranging from the coordination of both robotic arms to the detection of the forces applied by the operator. This paper presents a novel control architecture for the execution of trajectory driven collaborative tasks, combining impedance control and trajectory coordination in the control loop. The obtained results demonstrate the validity of the implemented control architecture as well as its suitability for the implementation of collaborative cyber-physical systems.",

keywords = "co-manipulation, dual-arm, impedance control",

author = "Aitor Ibarguren and Paul Daelman and Miguel Prada",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 3rd IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020 ; Conference date: 10-06-2020 Through 12-06-2020",

year = "2020",

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series = "Proceedings - 2020 IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020",

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Ibarguren, A, Daelman, P & Prada, M 2020, Control Strategies for Dual Arm Co-Manipulation of Flexible Objects in Industrial Environments. in Proceedings - 2020 IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020., 9274711, Proceedings - 2020 IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020, Institute of Electrical and Electronics Engineers Inc., pp. 514-519, 3rd IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020, Virtual, Tampere, Finland, 10/06/20. https://doi.org/10.1109/ICPS48405.2020.9274711

Control Strategies for Dual Arm Co-Manipulation of Flexible Objects in Industrial Environments. / Ibarguren, Aitor; Daelman, Paul; Prada, Miguel.
Proceedings - 2020 IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 514-519 9274711 (Proceedings - 2020 IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Control Strategies for Dual Arm Co-Manipulation of Flexible Objects in Industrial Environments

AU - Ibarguren, Aitor

AU - Daelman, Paul

AU - Prada, Miguel

PY - 2020/6/10

Y1 - 2020/6/10

N2 - The introduction of collaborative robots had a great impact in the development of robotic solutions for cooperative tasks typically performed by humans, specially in industrial environments where robots can act as assistants of operators. Even so, the coordinated manipulation of large and deformable parts between dual arm robots and humans rises many technical challenges, ranging from the coordination of both robotic arms to the detection of the forces applied by the operator. This paper presents a novel control architecture for the execution of trajectory driven collaborative tasks, combining impedance control and trajectory coordination in the control loop. The obtained results demonstrate the validity of the implemented control architecture as well as its suitability for the implementation of collaborative cyber-physical systems.

AB - The introduction of collaborative robots had a great impact in the development of robotic solutions for cooperative tasks typically performed by humans, specially in industrial environments where robots can act as assistants of operators. Even so, the coordinated manipulation of large and deformable parts between dual arm robots and humans rises many technical challenges, ranging from the coordination of both robotic arms to the detection of the forces applied by the operator. This paper presents a novel control architecture for the execution of trajectory driven collaborative tasks, combining impedance control and trajectory coordination in the control loop. The obtained results demonstrate the validity of the implemented control architecture as well as its suitability for the implementation of collaborative cyber-physical systems.

KW - co-manipulation

KW - dual-arm

KW - impedance control

UR - https://www.scopus.com/pages/publications/85094846177

U2 - 10.1109/ICPS48405.2020.9274711

DO - 10.1109/ICPS48405.2020.9274711

M3 - Conference contribution

AN - SCOPUS:85094846177

T3 - Proceedings - 2020 IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020

SP - 514

EP - 519

BT - Proceedings - 2020 IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 3rd IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020

Y2 - 10 June 2020 through 12 June 2020

ER -

Ibarguren A, Daelman P, Prada M. Control Strategies for Dual Arm Co-Manipulation of Flexible Objects in Industrial Environments. In Proceedings - 2020 IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020. Institute of Electrical and Electronics Engineers Inc. 2020. p. 514-519. 9274711. (Proceedings - 2020 IEEE Conference on Industrial Cyberphysical Systems, ICPS 2020). doi: 10.1109/ICPS48405.2020.9274711

Control Strategies for Dual Arm Co-Manipulation of Flexible Objects in Industrial Environments

Abstract

Publication series

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UN SDGs

Keywords

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