Simulated Framework for Physical Human-Robot Collaboration to Co-Manipulate Objects
Résumé
Physical Human-Robot Interaction (pHRI) is an important field that has grown considerably over the last years. Nowadays, new possible applications are being evaluated. In order to tackle the new issues that might arise, novel methods for robot control have to be used. To ease the comparison and evaluation of those methods, this work proposes a simulated framework to study the collaboration between a robot manipulator and a person while moving payloads. The way of conceiving the simulated framework done in Matlab is presented, detailing how the robot, the object, and the person can be described. Experiments are done on a real robot KUKA LBR iiwa 14 R820 to compare and validate the interaction forces predicted by the proposed framework. Results showed that this method allows to simulate the co-manipulation of objects, even with unknown load, showing forces that are close to the real ones applied by the person. The Matlab code is publicly available at https://gitlab.com/MMujica/simulated framework phrc.
Domaines
Robotique [cs.RO]Origine | Fichiers produits par l'(les) auteur(s) |
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