@Article{RodamilansVilTraOliSut:2016:FoGuSy,
author = "Rodamilans, Guilherme Boulhosa and Villani, Em{\'{\i}}lia and
Trabasso, Lu{\'{\i}}s Gonzaga and Oliveira, Wesley Rodrigues de
and Suterio, Ricardo",
affiliation = "{Instituto Tecnol{\'o}gico de Aeron{\'a}utica (ITA)} and
{Instituto Tecnol{\'o}gico de Aeron{\'a}utica (ITA)} and
{Instituto Tecnol{\'o}gico de Aeron{\'a}utica (ITA)} and
{Instituto Tecnol{\'o}gico de Aeron{\'a}utica (ITA)} and
{Instituto Nacional de Pesquisas Espaciais (INPE)}",
title = "A comparison of industrial robots interface: force guidance system
and teach pendant operation",
journal = "Industrial Robot: An International Journal",
year = "2016",
volume = "43",
number = "5",
pages = "552--562",
keywords = "Cooperative robots, Force guidance systems, Human-Robot
interaction, Robot agility metrics.",
abstract = "Purpose This paper aims to propose an evaluation method to compare
two different HumanRobot Interaction (HRI) solutions that can be
used for on-line programming in an industrial context: a force
guidance system and the traditional teach pendant operation.
Design/methodology/approach The method defines three evaluation
criteria (agility, accuracy and learning) and describes an
experimental approach based on the analysis of variance to verify
the performance of guidance systems according to these criteria.
This method is used in this paper to compare the traditional teach
pendant interface with an implementation of a force guidance
system based on the use of an external force/torque sensor.
Findings The application of the proposed method to an
off-the-shelf industrial robot shows that the force guidance
system has a better performance according to the agility
criterion. Both solutions have a similar performance for the
accuracy criterion, with a limit of about 2 mm in the achieved
position accuracy. Regarding the learning criterion, the authors
cannot affirm that any of the methods has an improved agility when
the operator repeats the tasks. Practical implications This work
supports the selection of guidance systems to be used in on-line
programming of industrial applications. It shows that the force
guidance system is an option potentially faster than the teach
pendant when the required positioning accuracy is greater than 2
mm. Originality/value The new method proposed in this paper can be
applied to a large range of robots, not being limited to
commercial available collaborative robots. Furthermore, the method
is appropriate to accomplish further investigations in HRI not
only to compare programming methods but also to evaluate guidance
systems approaches or robot control systems.",
doi = "10.1108/IR-02-2016-0074",
url = "http://dx.doi.org/10.1108/IR-02-2016-0074",
issn = "0143-991X",
label = "lattes: 8464326901644595 5 RodamilansVilTraOliSut:2016:FoGuSy",
language = "en",
targetfile = "rodamilans_comparison.pdf",
urlaccessdate = "12 maio 2024"
}