Published June 10, 2020
| Version v1
Conference paper
Open
Human-Robot Cooperative Interaction Control for the Installation of Heavy and Bulky Components
Authors/Creators
- 1. CNR
- 2. Università di Padova
Description
Within the scope of the project EURECA (https://cordis.europa.eu/project/id/738039), the paper describes a human-robot cooperative installation methodology of heavy and bulky components based on marker-based visual servoing, force control, and human-robot cooperation. The main advance in the human-robot cooperation is achieved by a shared-control of the interaction during the in- stallation task, relieving the human operator by the manipulated load and giving to the robot a partially autonomous behaviour in the force-tracking direction. Experimental results are shown in the context of the H2020 CleanSky 2 EURECA project in which a side-wall panel is installed in a 1:1 scale mock-up scenario of an A320 plane fuselage environment.