Abstract
In this letter we present a control and trajectory tracking approach for wiping the train cab front panels, using a velocity controlled robotic manipulator and a force/torque sensor attached to its end effector, without using any surface model or vision-based surface detection. The control strategy consists in a simultaneous position and force controller, adapted from the operational space formulation, that aligns the cleaning tool with the surface normal, maintaining a set-point normal force, while simultaneously moving along the surface. The trajectory tracking strategy consists in specifying and tracking a two dimensional path that, when projected onto the train surface, corresponds to the desired pattern of motion. We first validated our approach using the Baxter robot to wipe a highly curved surface with both a spiral and a raster scan motion patterns. Finally, we implemented the same approach in a scaled robot prototype, specifically designed by ourselves to wipe a 1/8 scaled version of a train cab front, using a raster scan pattern.
Original language | English |
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Pages (from-to) | 3058-3065 |
Number of pages | 8 |
Journal | IEEE Robotics and Automation Letters |
Volume | 3 |
Issue number | 4 |
Early online date | 21 Jun 2018 |
DOIs | |
Publication status | Published - Oct 2018 |
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Mustafa Suphi Erden
- School of Engineering & Physical Sciences - Associate Professor
- School of Engineering & Physical Sciences, Institute of Sensors, Signals & Systems - Associate Professor
Person: Academic (Research & Teaching)