Master/Slave Robotic System for Teaching Motion-Force Manufacturing Tasks

Abstract:

This paper proposes a bilateral master-slave training systems which allows to directly transfer motion and force skills from the human operator to a real slave manipulator trough a master robot. For this, real and virtual surfaces are modeled by geometric constraints, which represent the surface where the task is to be performed. Thus, joint orthogonal decomposition into force and motion is considered. The holonomic constraint model and the joint orthogonal decomposition allow a stability analysis of the whole system, such that convergence properties in motion and force spaces are obtained. The effectiveness of our proposal is experimentally shown.

• Periodical: Applied Mechanics and Materials (Volume 307)
• Pages: 84-88
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.307.84
• Online since: February 2013
• Authors: Rogelio de J. Portillo-Vélez, Carlos A. Cruz-Villar, Alejandro Rodríguez-Ángeles, Marco A. Arteaga-Pérez
• Keywords: Motion-Force Control, Orthogonal Decomposition, Virtual Surfaces

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