Accurate sensorless leadthrough programming for lightweight robots in

Accurate sensorless lead-through programming for lightweight robots in structured environments Paolo Rocco ERF Workshop on Teaching by Demonstration for Industrial Applications – Edinburgh, March 22, 2017

The problem Lead through programming Intuitive method for robot programming Reduces the complexity of the programming phase Setting up of a robotic application becomes easier and faster Paolo Rocco - ERF 2017 – Edinburgh - March 22, 2017

The problem Lead through programming It needs additional hardware (F/T sensor) It is not accurate It can be unsafe Paolo Rocco - ERF 2017 – Edinburgh - March 22, 2017

The approach It needs additional hardware It is not accurate It can be unsafe Sensorless LTP (model-based force/torque estimator) Voting system to identify a Cartesian direction of motion Constraint-based controller with safety constraints M. Ragaglia, A. M. Zanchettin, L. Bascetta, P. Rocco “Accurate sensorless lead-through programming for lightweight robots in structured environments” Robotics and Computer Integrated Manufacturing, Vol. 39, pp. 9 -21, June 2016 Paolo Rocco - ERF 2017 – Edinburgh - March 22, 2017

The approach Paolo Rocco - ERF 2017 – Edinburgh - March 22, 2017

The finite state machine (with the voting system) Paolo Rocco - ERF 2017 – Edinburgh - March 22, 2017

Constraint-based control with obstacle avoidance Best tracking of the output of the admittance filter, subject to several constraints. Obstacle avoidance constraints Paolo Rocco - ERF 2017 – Edinburgh - March 22, 2017

Experimental setup without obstacles Paolo Rocco - ERF 2017 – Edinburgh - March 22, 2017 with obstacles

An experiment of lead-through programming Paolo Rocco - ERF 2017 – Edinburgh - March 22, 2017

What’s next? § § § Use of more complete dynamic models Improve the smoothness of the robot motion Technology transfer to industry Paolo Rocco - ERF 2017 – Edinburgh - March 22, 2017