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dc.contributor.authorHamdan, Sara
dc.contributor.authorÖztop, Erhan
dc.contributor.authorUğurlu, Regaip Barkan
dc.date.accessioned2020-12-08T08:16:27Z
dc.date.available2020-12-08T08:16:27Z
dc.identifier.isbn978-1-7281-4569-3en_US
dc.identifier.issn1062-922X
dc.identifier.urihttp://hdl.handle.net/10679/7170
dc.identifier.urihttps://ieeexplore.ieee.org/document/8914009
dc.description.abstractIn this paper, a method to control a manipulator using force-induced trajectory is proposed. The trajectory is learned from an operator doing the polishing task using a tool attached to the robot's end-effector. The learning process is performed by a deep neural network which is designed and trained to generate a force profile according to the states (joints' positions and velocities). The admittance control technique is utilized to make the manipulator compliant to the operator movements in the teaching mode. Spring-Damper system along with Inertia-Damper system has been studied to impose the relationship between the operator's applied force and the reaction of the manipulator. The universal robot (UR5) aside with a force sensor (OptoForce) are used to run the experiment. Robot Operation System (ROS) is used to accomplish the task in real-time. The polishing task is learned and achieved by the robot itself, and the force trajectories are better followed using the Inertia-Damper system as the admittance controlling scheme.en_US
dc.description.sponsorshipEuropean Union (EU) ; H2020 project CoMRAde
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.relation.ispartof2019 IEEE International Conference on Systems, Man and Cybernetics (SMC)
dc.rightsopenAccess
dc.titleForce reference extraction via human interaction for a robotic polishing task: Force-induced motionen_US
dc.typeConference paperen_US
dc.publicationstatusPublisheden_US
dc.contributor.departmentÖzyeğin University
dc.contributor.authorID(ORCID 0000-0002-3051-6038 & YÖK ID 45227) Öztop, Erhan
dc.contributor.authorID(ORCID 0000-0002-9124-7441 & YÖK ID 241209) Uğurlu, Barkan
dc.contributor.ozuauthorÖztop, Erhan
dc.contributor.ozuauthorUğurlu, Regaip Barkan
dc.identifier.startpage4019
dc.identifier.endpage4024
dc.identifier.wosWOS:000521353904008
dc.subject.keywordsAdmittance controlen_US
dc.subject.keywordsPhysical human-robot interactionen_US
dc.subject.keywordsIntelligent robot controlen_US
dc.identifier.scopusSCOPUS:2-s2.0-85076770205
dc.contributor.ozugradstudentHamdan, Sara
dc.contributor.authorMale2
dc.contributor.authorFemale1
dc.relation.publicationcategoryConference Paper - International - Institutional Academic Staff and Graduate Student


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