Robust control of force-coupled human-robot-interaction in assembly processes

CIRP Annals - Manufacturing Technology

Volumn 57, Issue 1, 2008, Pages 41-44

  Kruger J ^a,b   Surdilovic, D ^b  

^a TECHNISCHE UNIVERSITÄT BERLIN   (Germany)

^b FRAUNHOFER INSTITUTE FOR PRODUCTION SYSTEMS AND DESIGN TECHNOLOGY IPK   (Germany)

Author keywords

Co operative Assembly; Man machine system; Robot

Indexed keywords

ASSEMBLY; INTELLIGENT SYSTEMS; MAN MACHINE SYSTEMS; PROCESS CONTROL; ROBUST CONTROL;

CO-OPERATIVE ASSEMBLY; HUMAN ROBOT INTERACTION;

ROBOTS;

EID: 43649107914     PISSN: 00078506     EISSN: 17260604     Source Type: Journal    
DOI: 10.1016/j.cirp.2008.03.005     Document Type: Article

References (6)

1. Bley H., Reinhart G., Seliger G., Bernardi M., and Korne T. Appropriate Human Involvement in Assembly and Disassembly. Annals of the CIRP 53 (2004) 487-510
2. Krüger J., Bernhardt R., Surdilovic D., and Seliger G. Intelligent Assist Systems for Flexible Assembly. Annals of the CIRP 55 (2006) 29-33
3. Vukobratović M., and Surdilović D. Control of Robotic Systems in Contact Tasks. In: Nwokah O.I., and Hurmuzlu Y. (Eds). The Mechanical Systems Design Handbook: Modeling Measurement and Control (2002), CRC Press, Boca Raton 587-638
4. Colgate J.E., and Hogan N. An Analysis of Contact Instability in Terms of Passive Physical Equivalents. Proceedings of IEEE Int. Conference on Robotics and Automation (1989) 404-409
5. Buerger S.P., and Hogan N. Relaxing Passivity for Human-Robot Interaction. Proceedings of the Int. Conference on Intelligent Robot and Systems. Beijing (2006) 4570-4575
6. Surdilovic D., and Radojicic J. Robust Control of Interaction with Haptic Interfaces. Proceedings of ICRA. Rome (2007) 3237-3244