3. University of Coimbra
Contents
• Why hand guiding?
• Motivation for the proposed work
• Control strategy
• Addressing joint limits
• Experiments and results
3
4. University of Coimbra
4
Why hand guiding?
Confusing??????
Smart-pad is usually used
Keep track of the base frame
orientation
Mohammad Safeea
16. University of Coimbra
Precession of Cartesian linear motion.
16 HRC- Human robot collaboration
Precise hand guiding functionality
Testing
A force is applied in the y
direction, the robot moves
accordingly in the Y direction,
While the coordinates in the X,
Z directions are almost fixed.
From collected data it is found
that the precession in the X
direction is 0.091 mm,
while the average deviation in
the Z direction is 0.092 mm.
Mohammad Safeea
21. University of Coimbra
Orientation: KUKA off the shelf VS precise hand guiding.
21 HRC- Human robot collaboration
Precise hand guiding functionality
Comparison results
KUKA off the shelf hand-guiding Precise hand-guiding
Mohammad Safeea