Coordination of Two Robots for Manipulating Heavy and Large Payloads Collaboratively: SOFOCLES Project Case Use

Pablo Bengoa; Itzel de Jesus González-Ojeda; Aitor Ibarguren; Borja Goenaga; Sandra Martínez-De-Lahidalga; Christos Gkournelos; Konstantinos Lotsaris; Panagiotis Angelakis; Sotiris Makris; Juan Carlos Antolín-Urbaneja

doi:10.1007/978-3-030-97719-1_15

Coordination of Two Robots for Manipulating Heavy and Large Payloads Collaboratively: SOFOCLES Project Case Use

Pablo Bengoa^*
, Itzel de Jesus González-Ojeda
, Aitor Ibarguren
, Borja Goenaga
, Sandra Martínez-De-Lahidalga
, Christos Gkournelos
, Konstantinos Lotsaris
, Panagiotis Angelakis
, Sotiris Makris
, Juan Carlos Antolín-Urbaneja

^*Corresponding author for this work

University of Patras

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

7 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Advances and Applications in Computer Science, Electronics, and Industrial Engineering - Proceedings of the Conference on Computer Science, Electronics and Industrial Engineering CSEI 2021
Editors	Marcelo V. Garcia, Félix Fernández-Peña, Carlos Gordón-Gallegos
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	255-271
Number of pages	17
Volume	433
ISBN (Print)	9783030977184
DOIs	https://doi.org/10.1007/978-3-030-97719-1_15
Publication status	Published - 26 May 2022
Event	3rd International Conference on Computer Science, Electronics, and Industrial Engineering, CSEI 2021 - Ambato, Ecuador Duration: 25 Oct 2021 → 29 Oct 2021

Publication series

Name	Lecture Notes in Networks and Systems
Volume	433
ISSN (Print)	2367-3370
ISSN (Electronic)	2367-3389

Conference

Conference	3rd International Conference on Computer Science, Electronics, and Industrial Engineering, CSEI 2021
Country/Territory	Ecuador
City	Ambato
Period	25/10/21 → 29/10/21

UN SDGs

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

SDG 9 Industry, Innovation, and Infrastructure

Keywords

Cobots
Collaboratively
Coordination
Digital Twin
Dual-Arm Robots
Heavy and large payloads

Project and Funding Information

Funding Info
The work leading to this publication has been funded by EIT Manufacturing under the code 21055. EIT Manufacturing is supported by the European Institute of Innovation and Technology (EIT), a body of the European Union.

Access to Document

10.1007/978-3-030-97719-1_15

Cite this

Bengoa, P., González-Ojeda, I. D. J., Ibarguren, A., Goenaga, B., Martínez-De-Lahidalga, S., Gkournelos, C., Lotsaris, K., Angelakis, P., Makris, S., & Antolín-Urbaneja, J. C. (2022). Coordination of Two Robots for Manipulating Heavy and Large Payloads Collaboratively: SOFOCLES Project Case Use. In M. V. Garcia, F. Fernández-Peña, & C. Gordón-Gallegos (Eds.), Advances and Applications in Computer Science, Electronics, and Industrial Engineering - Proceedings of the Conference on Computer Science, Electronics and Industrial Engineering CSEI 2021 (Vol. 433, pp. 255-271). (Lecture Notes in Networks and Systems; Vol. 433). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-030-97719-1_15

Bengoa, Pablo ; González-Ojeda, Itzel de Jesus ; Ibarguren, Aitor et al. / Coordination of Two Robots for Manipulating Heavy and Large Payloads Collaboratively : SOFOCLES Project Case Use. Advances and Applications in Computer Science, Electronics, and Industrial Engineering - Proceedings of the Conference on Computer Science, Electronics and Industrial Engineering CSEI 2021. editor / Marcelo V. Garcia ; Félix Fernández-Peña ; Carlos Gordón-Gallegos. Vol. 433 Springer Science and Business Media Deutschland GmbH, 2022. pp. 255-271 (Lecture Notes in Networks and Systems).

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title = "Coordination of Two Robots for Manipulating Heavy and Large Payloads Collaboratively: SOFOCLES Project Case Use",

abstract = "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.",

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author = "Pablo Bengoa and Gonz{\'a}lez-Ojeda, \{Itzel de Jesus\} and Aitor Ibarguren and Borja Goenaga and Sandra Mart{\'i}nez-De-Lahidalga and Christos Gkournelos and Konstantinos Lotsaris and Panagiotis Angelakis and Sotiris Makris and Antol{\'i}n-Urbaneja, \{Juan Carlos\}",

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Bengoa, P, González-Ojeda, IDJ, Ibarguren, A , Goenaga, B , Martínez-De-Lahidalga, S, Gkournelos, C, Lotsaris, K, Angelakis, P, Makris, S & Antolín-Urbaneja, JC 2022, Coordination of Two Robots for Manipulating Heavy and Large Payloads Collaboratively: SOFOCLES Project Case Use. in MV Garcia, F Fernández-Peña & C Gordón-Gallegos (eds), Advances and Applications in Computer Science, Electronics, and Industrial Engineering - Proceedings of the Conference on Computer Science, Electronics and Industrial Engineering CSEI 2021. vol. 433, Lecture Notes in Networks and Systems, vol. 433, Springer Science and Business Media Deutschland GmbH, pp. 255-271, 3rd International Conference on Computer Science, Electronics, and Industrial Engineering, CSEI 2021, Ambato, Ecuador, 25/10/21. https://doi.org/10.1007/978-3-030-97719-1_15

Coordination of Two Robots for Manipulating Heavy and Large Payloads Collaboratively: SOFOCLES Project Case Use. / Bengoa, Pablo; González-Ojeda, Itzel de Jesus; Ibarguren, Aitor et al.
Advances and Applications in Computer Science, Electronics, and Industrial Engineering - Proceedings of the Conference on Computer Science, Electronics and Industrial Engineering CSEI 2021. ed. / Marcelo V. Garcia; Félix Fernández-Peña; Carlos Gordón-Gallegos. Vol. 433 Springer Science and Business Media Deutschland GmbH, 2022. p. 255-271 (Lecture Notes in Networks and Systems; Vol. 433).

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

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AU - Lotsaris, Konstantinos

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AU - Antolín-Urbaneja, Juan Carlos

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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.

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Bengoa P, González-Ojeda IDJ, Ibarguren A , Goenaga B , Martínez-De-Lahidalga S, Gkournelos C et al. Coordination of Two Robots for Manipulating Heavy and Large Payloads Collaboratively: SOFOCLES Project Case Use. In Garcia MV, Fernández-Peña F, Gordón-Gallegos C, editors, Advances and Applications in Computer Science, Electronics, and Industrial Engineering - Proceedings of the Conference on Computer Science, Electronics and Industrial Engineering CSEI 2021. Vol. 433. Springer Science and Business Media Deutschland GmbH. 2022. p. 255-271. (Lecture Notes in Networks and Systems). doi: 10.1007/978-3-030-97719-1_15