Abstract: This work focuses on synchronizing a 7-axis industrial robot with an object that is moved in the workspace by a human operator. In an experimental setup, the robot draws several curves on the moving object, where all 7 axes of the robot are in use. Based on feedback linearization, an active compliance control strategy is developed to synchronize the end-effector with the moving object. The path progress on the curve is dynamically monitored in order to stop it, if the object is moving too fast. Experiments show that a precise tracking accuracy is achieved besides a good human-robot usability.
Paper: T. Weingartshofer, M. Schwegel, C. Hartl-Nesic, T. Glück, and A. Kugi, “Collaborative Synchronization of a 7-Axis Robot”, IFAC-PapersOnLine, vol. 52, no. 15, pp. 507–512, 2019. https://doi.org/10.1016/j.ifacol.2019.11.726