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- W4380608152 abstract "<p>The safety and control performance of industrial collaborative robots must be ensured while they are executing repetitive and precise tasks alongside human workers. This study proposes a new motion control structure to enhance the safety by demonstrating full-body compliance while achieving control performance as accurate as that of conventional industrial controllers. For precise motion, the proposed approach introduces a nominal model and compensates for disturbances caused by model uncertainty while bounding the compensation input for the safe interaction. Furthermore, to reduce the interaction forces without compromising the control performances, a method for designing the compensation bound based on the Gaussian Process (GP) is proposed. The proposed approach can achieve a uniformly ultimately boundedness (UUB) in the tracking scenario and asymptotic stability in the regulation scenario. The effectiveness of the proposed approach is validated under various conditions through experiments conducted using a 6-DOF industrial collaborative robot.</p>" @default.
- W4380608152 created "2023-06-15" @default.
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- W4380608152 date "2023-06-14" @default.
- W4380608152 modified "2023-09-28" @default.
- W4380608152 title "Safety and Performance of Industrial Collaborative Robots: Bounded Compensation in Precision Motion Control" @default.
- W4380608152 doi "https://doi.org/10.36227/techrxiv.23498829.v1" @default.
- W4380608152 hasPublicationYear "2023" @default.
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