Transforming Industrial Manipulators via Kinesthetic Guidance for Automated Inspection of Complex Geometries.

ABSTRACT: The increased demand for cost-efficient manufacturing and metrology inspection solutions for complex-shaped components in High-Value Manufacturing (HVM) sectors requires increased production throughput and precision. This drives the integration of automated robotic solutions. However, the current manipulators utilizing traditional programming approaches demand specialized robotic programming knowledge and make it challenging to generate complex paths and adapt easily to unique specifications per component, resulting in an inflexible and cumbersome teaching process. Therefore, this body of work proposes a novel software system to realize kinesthetic guidance for path planning in real-time intervals at 250 Hz, utilizing an external off-the-shelf force-torque (FT) sensor. The proposed work is

SUBMITTER: Loukas C 

PROVIDER: S-EPMC10099101 | biostudies-literature | 2023 Apr

REPOSITORIES: biostudies-literature