Automation of train cab front cleaning with a robot manipulator

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dc.contributor.authorMoura, João
dc.contributor.authorMcColl, William
dc.contributor.authorTaykaldiranian, Gerard
dc.contributor.authorTomiyama, Tetsuo
dc.contributor.authorErden, Mustafa Suphi
dc.date.accessioned2018-07-30T14:34:26Z
dc.date.available2018-07-30T14:34:26Z
dc.date.issued2018-06-21
dc.description.abstractIn this letter we present a control and trajectory tracking approach for wiping the train cab front panels, using a velocity controlled robotic manipulator and a force/torque sensor attached to its end effector, without using any surface model or vision-based surface detection. The control strategy consists in a simultaneous position and force controller, adapted from the operational space formulation, that aligns the cleaning tool with the surface normal, maintaining a set-point normal force, while simultaneously moving along the surface. The trajectory tracking strategy consists in specifying and tracking a two dimensional path that, when projected onto the train surface, corresponds to the desired pattern of motion. We first validated our approach using the Baxter robot to wipe a highly curved surface with both a spiral and a raster scan motion patterns. Finally, we implemented the same approach in a scaled robot prototype, specifically designed by ourselves to wipe a 1/8 scaled version of a train cab front, using a raster scan pattern.en_UK
dc.identifier.citationMoura J, McColl W, Taykaldiranian G, Tomiyama T, Erden MS, Automation of train cab front cleaning with a robot manipulator, IEEE Robotics and Automation Letters, Vol. 3, Issue 4, October 2018, pp. 3058-3065en_UK
dc.identifier.issn2377-3766
dc.identifier.urihttp://dx.doi.org/10.1109/LRA.2018.2849591
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/13364
dc.language.isoenen_UK
dc.publisherIEEEen_UK
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectForceen_UK
dc.subjectToolsen_UK
dc.subjectCleaningen_UK
dc.subjectRobot sensing systemsen_UK
dc.subjectManipulatorsen_UK
dc.subjectAerospace electronicsen_UK
dc.subjectKinematicsen_UK
dc.subjectIndustrial robotsen_UK
dc.subjectMotion controlen_UK
dc.subjectForce controlen_UK
dc.titleAutomation of train cab front cleaning with a robot manipulatoren_UK
dc.typeArticleen_UK

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