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Robust control of force-coupled human-robot-interaction in assembly processes

Robuste Regelung der kraftgekoppelten Mensch-Roboter-Wechselwirkung in Montageprozessen
: Krüger, J.; Surdilovic, D.


CIRP Annals. Manufacturing Technology 57 (2008), No.1, pp.41-44
ISSN: 0007-8506
Journal Article
Fraunhofer IPK ()

Flexibility and changeability of assembly processes require a close interlinkage between the worker and the automated assembly system. The interaction between human and robot improves complex assembly processes, particularly when a robot can be guided by a worker and the robot provides power assistance to the worker. The close physical contact and the direct coupling of forces of human and robot necessitate a stable and robust interaction control. This paper describes a framework developed for a robustly stable control design for interactive robots serving as intelligent assist systems for flexible and highly adaptable assembly.