TY - GEN
T1 - Coordination of Two Robots for Manipulating Heavy and Large Payloads Collaboratively
T2 - 3rd International Conference on Computer Science, Electronics, and Industrial Engineering, CSEI 2021
AU - Bengoa, Pablo
AU - González-Ojeda, Itzel de Jesus
AU - Ibarguren, Aitor
AU - Goenaga, Borja
AU - Martínez-De-Lahidalga, Sandra
AU - Gkournelos, Christos
AU - Lotsaris, Konstantinos
AU - Angelakis, Panagiotis
AU - Makris, Sotiris
AU - Antolín-Urbaneja, Juan Carlos
N1 - Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2022/5/26
Y1 - 2022/5/26
N2 - During the last two decades a great impulse in the development of applications to improve the collaboration between human and robots has been achieved in several sectors. This paper presents a new research carried out for coordinating two robots with the aim to manipulate heavy and large payloads up to 250 kg. This process is performed with the collaboration of the final user who clamps each robot to one point of the part by means of a flexible and reconfigurable tool. The architecture of the system and the followed methodology is envisaged. Also, information about the generation of the trajectory is explained. The work is focused on the coordination problem of two collaboratives robots used in a pick and place application, synchronized with a second process (e.g., sealing, painting, welding). The test has been performed using an 80 kg payload, handling the part synchronously using both collaborative robots, showing good articular coordinates tracking. This research has been done within SOFOCLES project, funded by the European Institute of Innovation and Technology (EIT), a body of the European Union.
AB - During the last two decades a great impulse in the development of applications to improve the collaboration between human and robots has been achieved in several sectors. This paper presents a new research carried out for coordinating two robots with the aim to manipulate heavy and large payloads up to 250 kg. This process is performed with the collaboration of the final user who clamps each robot to one point of the part by means of a flexible and reconfigurable tool. The architecture of the system and the followed methodology is envisaged. Also, information about the generation of the trajectory is explained. The work is focused on the coordination problem of two collaboratives robots used in a pick and place application, synchronized with a second process (e.g., sealing, painting, welding). The test has been performed using an 80 kg payload, handling the part synchronously using both collaborative robots, showing good articular coordinates tracking. This research has been done within SOFOCLES project, funded by the European Institute of Innovation and Technology (EIT), a body of the European Union.
KW - Cobots
KW - Collaboratively
KW - Coordination
KW - Digital Twin
KW - Dual-Arm Robots
KW - Heavy and large payloads
KW - Cobots
KW - Dual-Arm Robots
KW - Collaboratively
KW - Heavy and large payloads
KW - Digital Twin
KW - Coordination
UR - http://www.scopus.com/inward/record.url?scp=85131961319&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-97719-1_15
DO - 10.1007/978-3-030-97719-1_15
M3 - Conference contribution
AN - SCOPUS:85131961319
SN - 9783030977184
VL - 433
T3 - Lecture Notes in Networks and Systems
SP - 255
EP - 271
BT - Advances and Applications in Computer Science, Electronics, and Industrial Engineering - Proceedings of the Conference on Computer Science, Electronics and Industrial Engineering CSEI 2021
A2 - Garcia, Marcelo V.
A2 - Fernández-Peña, Félix
A2 - Gordón-Gallegos, Carlos
PB - Springer Science and Business Media Deutschland GmbH
Y2 - 25 October 2021 through 29 October 2021
ER -
