Force reference extraction via human interaction for a robotic polishing task: Force-induced motion
dc.contributor.author | Hamdan, Sara | |
dc.contributor.author | Öztop, Erhan | |
dc.contributor.author | Uğurlu, Regaip Barkan | |
dc.date.accessioned | 2020-12-08T08:16:27Z | |
dc.date.available | 2020-12-08T08:16:27Z | |
dc.identifier.isbn | 978-1-7281-4569-3 | en_US |
dc.identifier.issn | 1062-922X | |
dc.identifier.uri | http://hdl.handle.net/10679/7170 | |
dc.identifier.uri | https://ieeexplore.ieee.org/document/8914009 | |
dc.description.abstract | In 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.sponsorship | European Union (EU) ; H2020 project CoMRAde | |
dc.language.iso | eng | en_US |
dc.publisher | IEEE | en_US |
dc.relation.ispartof | 2019 IEEE International Conference on Systems, Man and Cybernetics (SMC) | |
dc.rights | openAccess | |
dc.title | Force reference extraction via human interaction for a robotic polishing task: Force-induced motion | en_US |
dc.type | Conference paper | en_US |
dc.description.version | Post print | |
dc.publicationstatus | Published | en_US |
dc.contributor.department | Özyeğin 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.ozuauthor | Öztop, Erhan | |
dc.contributor.ozuauthor | Uğurlu, Regaip Barkan | |
dc.identifier.startpage | 4019 | |
dc.identifier.endpage | 4024 | |
dc.identifier.wos | WOS:000521353904008 | |
dc.subject.keywords | Admittance control | en_US |
dc.subject.keywords | Physical human-robot interaction | en_US |
dc.subject.keywords | Intelligent robot control | en_US |
dc.identifier.scopus | SCOPUS:2-s2.0-85076770205 | |
dc.contributor.ozugradstudent | Hamdan, Sara | |
dc.contributor.authorMale | 2 | |
dc.contributor.authorFemale | 1 | |
dc.relation.publicationcategory | Conference Paper - International - Institutional Academic Staff and Graduate Student |
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