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Development of collaborative robots (COBOTS) for flexible human-integrated assembly automation

: Surdilovic, D.; Schreck, G.; Schmidt, U.

Verband der Elektrotechnik, Elektronik, Informationstechnik -VDE-:
Joint 41st International Symposium on Robotics and 6th German Conference on Robotics, ISR/ROBOTIK 2010. Vol.1 : Munich, Germany, 7 - 9 June 2010
Red Hook, NY: Curran, 2010
ISBN: 978-1-617-38719-7
International Symposium on Robotics (ISR) <41, 2010, Munich>
German Conference on Robotics (ROBOTIK) <6, 2010, Munich>
Conference Paper
Fraunhofer IPK ()
Handhabungssystem; Teilautomatisierung; Mensch-Maschine-Kooperation

This paper addresses the stability and safety issues in powered human-robot-environment interactive systems. It presents the extension of the robust control design framework, initially established for the interaction between an industrial robot and stiff environment, to novel human-robot-environment and human-robot-human-environment interactive systems with physical interfaces. This theoretical framework has been utilized for the control design of novel collaborative robot supporting complex assembly process in automotive industry developed in the PISA project. The practical design and initial application tests with a novel power collaborative developed in the PISA project are also presented in the paper.