Design and characterization of an instrumented hand-held power tool to capture dynamic interaction with the workpiece du
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ORIGINAL ARTICLE
Design and characterization of an instrumented hand-held power tool to capture dynamic interaction with the workpiece during manual operations Gia-Hoang Phan1,2 · Clint Hansen3 · Paolo Tommasino4 · Asif Hussain4 · Domenico Campolo4 Received: 3 May 2020 / Accepted: 7 September 2020 / Published online: 25 September 2020 © Springer-Verlag London Ltd., part of Springer Nature 2020
Abstract In recent years, robots have contributed extensively to the automation of repetitive tasks for which position control-based approaches represent effective solutions. However, other contact tasks such as finishing, deburring and grinding require both position and force control. To date, despite the availability of cost-effective robotic solutions, such tasks are still carried out manually by skilled operators mainly because programming is time consuming and not sufficiently flexible to be readapted to product or task changes. An alternative approach is teaching by demonstration, by instrumenting hand-held tools for capturing both the force and the contact point while an expert operator performs tooling tasks. This paper presents a novel approach for instrumenting hand-held tools for polishing/grinding used in monitoring the performance of skilled human operators which can be, in future work, translated into planning strategies for robot programming and control. More specifically, the instrumented tool is designed to monitor interaction forces with the workpiece and point of contact, where these interaction forces arise. The key element in our design is a flexible coupler which, ideally, only transmits rotation torques to spin the polishing/grinding wheel while all the remaining torque and force components are transmitted through a parallel structure and sensed by a 6-axis loadcell. Sensing torques, in addition to forces, also allows for a dynamic estimation of the point of contact. Keywords Instrumented tool · Robotics · Finesse finishing tasks · Contact point · Dynamic estimation
1 Introduction As of today, robots are typically deployed in industrial tasks where minimal or no dynamic interaction between the
Domenico Campolo
[email protected] Gia-Hoang Phan [email protected] 1
Industrial Maintenance Training Center, HoChiMinh City University of Technology (HCMUT), 268 Ly Thuong Kiet Street, District 10, HoChiMinh City, Vietnam
2
Vietnam National University HoChiMinh City, Linh Trung Ward, Thu Duc District, HoChiMinh City, Vietnam
3
Neurogeriatrics Kiel, Department of Neurology, University Hospital of Kiel, Kiel, Germany
4
Robotics Research Centre, School of Mechanical, Aerospace Engineering, Nanyang Technological University, Singapore, Singapore
manipulator and its environment is required [1–3], making conventional position control-based approaches a suitable choice. However, an important class of industrial tasks such as surface finishing, e.g. see Fig. 1, involves continuous and non-negligible physical interaction with the environment and cannot simply depend only on position information for tas
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