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

*Autor correspondiente de este trabajo

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

4 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojadaAdvances and Applications in Computer Science, Electronics, and Industrial Engineering - Proceedings of the Conference on Computer Science, Electronics and Industrial Engineering CSEI 2021
EditoresMarcelo V. Garcia, Félix Fernández-Peña, Carlos Gordón-Gallegos
EditorialSpringer Science and Business Media Deutschland GmbH
Páginas255-271
Número de páginas17
Volumen433
ISBN (versión impresa)9783030977184
DOI
EstadoPublicada - 26 may 2022
Evento3rd International Conference on Computer Science, Electronics, and Industrial Engineering, CSEI 2021 - Ambato, Ecuador
Duración: 25 oct 202129 oct 2021

Serie de la publicación

NombreLecture Notes in Networks and Systems
Volumen433
ISSN (versión impresa)2367-3370
ISSN (versión digital)2367-3389

Conferencia

Conferencia3rd International Conference on Computer Science, Electronics, and Industrial Engineering, CSEI 2021
País/TerritorioEcuador
CiudadAmbato
Período25/10/2129/10/21

Palabras clave

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

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.

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