Robotics

Scientific publication

Intuitive Hand Guidance of a Force-Controlled Sensitive Mobile Manipulator

Publication from Robotics
Mechatronic Systems

Matthias Weyrer, BSc, Mathias Brandstötter, Damir Mirkovic

IFToMM Symposium on Mechanism Design for Robotics (MEDER2018), Mechanisms and Machine Science, vol 66. Springer, Cham , 9/2018

Abstract:

The demand for a highly flexible and adaptable industrial infrastructure has gained importance due to increasing product variability, small batch sizes and the need for cost-effective production. Moving from fixed production lines towards mobile manipulation with the possibility for fast and easy reprogramming could provide a solution for these challenges. The ambitious goal of completely programming robot systems without a single line of code is being addressed in this work. More specifically, we present an efficient and natural approach for programming sensitive mobile manipulators through hand guidance using a force torque-sensor that is mounted close to the end effector. The proposed control strategy is explained in detail and results of conducted laboratory tests are presented.