Control híbrido para la manipulación robótica de elementos flexibles

  1. Tapia Sal Paz, Benjamín 1
  2. Sorrosal, Gorka 1
  3. Mancisidor, Aitziber 2
  4. Cabanes, Itziar 2
  1. 1 Ikerlan-IK4. Ikerlan Centro de Investigaciones Tecnologicas
  2. 2 Universidad del País Vasco/Euskal Herriko Unibertsitatea
    info

    Universidad del País Vasco/Euskal Herriko Unibertsitatea

    Lejona, España

    ROR https://ror.org/000xsnr85

Libro:
XLIV Jornadas de Automática: libro de actas: Universidad de Zaragoza, Escuela de Ingeniería y Arquitectura, 6, 7 y 8 de septiembre de 2023, Zaragoza
  1. Ramón Costa Castelló (coord.)
  2. Manuel Gil Ortega (coord.)
  3. Óscar Reinoso García (coord.)
  4. Luis Enrique Montano Gella (coord.)
  5. Carlos Vilas Fernández (coord.)
  6. Elisabet Estévez Estévez (coord.)
  7. Eduardo Rocón de Lima (coord.)
  8. David Muñoz de la Peña Sequedo (coord.)
  9. José Manuel Andújar Márquez (coord.)
  10. Luis Payá Castelló (coord.)
  11. Alejandro Mosteo Chagoyen (coord.)
  12. Raúl Marín Prades (coord.)
  13. Vanesa Loureiro-Vázquez (coord.)
  14. Pedro Jesús Cabrera Santana (coord.)

Editorial: Servizo de Publicacións ; Universidade da Coruña

ISBN: 9788497498609

Ano de publicación: 2023

Páxinas: 768-772

Congreso: Jornadas de Automática (44. 2023. Zaragoza)

Tipo: Achega congreso

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Resumo

In this work, the control proposal of a robotic arm for the manipulation of flexible elements is presented. With this, a control solution is sought for handling paths of flexible elements where the application of an adequate force is necessary to ensure the physical integrity of the manipulated element. The proposal consists of a hybrid scheme for the control of the interaction between the robot´s elemento terminal and its environment, where the generation of a theoretical trajectory is proposed and its adaptation with a force controller, which acts according to the forces present during the execution of the task. The implementation of the control use the ROS2 hybrid-planning framework, which is validated in a simulation environment in the Franka Emika and KUKA lbr iiwa robots. As a result, paths for the manipulation of flexible elements are achieved, which reduce the force applied on the flexible element.

Fonte de datos: Dialnet