Robust human-robot collaboration for polishing tasks in the automotive industry

• Autores: Alberto García Fernández
• Directores de la Tesis: Josep Tornero i Montserrat (dir. tes.), Luis Ignacio Gracia Calandin (dir. tes.)
• Lectura: En la Universitat Politècnica de València ( España ) en 2023
• Idioma: inglés
• Tribunal Calificador de la Tesis: Markus Vincze (presid.), Ángel Valera Fernández (secret.), Raúl Suárez Feijóo (voc.)
• Programa de doctorado: Programa de Doctorado en Automática, Robótica e Informática Industrial por la Universitat Politècnica de València
• Materias:
  • Ciencias tecnológicas
    • Tecnología industrial
    • Tecnología de la instrumentación
      • Ingeniería de control
• Enlaces
  • Tesis en acceso abierto en: RiuNet
• Resumen

  • The present thesis work addresses Human-Robot Interaction for industrial surface treatment tasks, aiming to attain a true synergy between the human operator and the robot system, as well as a robust performance. Specifically, this thesis establishes the basis on which a robot, either assisted by teleoperation or working autonomously, interacts with humans and with other robots in its working area. These proposals are validated through real experimentation using up to two robot manipulators, 6R and 7R respectively.

    The main contributions are: - Robotic assistance for industrial sanding with a smooth approach to the surface and boundary constraints - Bimanual robot control using assisted teleoperation for surface treatment tasks - Augmented reality-based interface for bimanual robot teleoperation The appliance of conventional and non-conventional Sliding Mode Control (SMC) techniques and a priority-based control architecture are the fundamental tools for the development of these contributions.