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Development of an Experimental Test Bench by Means of Force Control in an Industrial Robot for the Analysis of the Mechanical Response in Car Seats

Valera, Angel; Benimeli, F.; Solaz, J.; De Rosario, H.; Robertsson, Anders LU ; Nilsson, Klas LU ; Zotovic, R. and Mellado, M. (2009) In Revista Iberoamericana de Automática e Informática Industrial 6(2). p.49-49
Abstract
In this work the design of an experimental test Platform analysis of the mechanical behavior of car seats during passenger ingress and egress is presented. This development has been performed in two steps: the first Step is data acquisition. by means of a mat sensorized with a pressure gauge net and a photogrammetry system so as to acquire the movements performed by a human during ingress and egress. The Second Step Consists in reproducing these movements automatically by means of a dummy held by a robot. controlling the force applied by the dummy on the seat. This development must allow applying different force control strategies with industrial robots. therefore using I test platform consisting in an ABB IRB140 robot and a JR3 industrial... (More)
In this work the design of an experimental test Platform analysis of the mechanical behavior of car seats during passenger ingress and egress is presented. This development has been performed in two steps: the first Step is data acquisition. by means of a mat sensorized with a pressure gauge net and a photogrammetry system so as to acquire the movements performed by a human during ingress and egress. The Second Step Consists in reproducing these movements automatically by means of a dummy held by a robot. controlling the force applied by the dummy on the seat. This development must allow applying different force control strategies with industrial robots. therefore using I test platform consisting in an ABB IRB140 robot and a JR3 industrial force sensor with 6 degrees of freedom. As control architecture, two alternatives are presented. The first one uses the ABB Web Ware SDK software application. In the second one, the original S4CPlus controller has been modified. providing an open control architecture that allows the implementation of new motion and force control algorithms in the industrial robot. With this application the process performed by a human during and egress simulated, monitoring, and controlling the force applied by the dummy on the seat in order to ensure the Same conditions as in a real situation. The developed System has Several Practical applications, namely allowing the analysis of the wearing produced in the seat upholstery. Copyright (C) 2009 CEA. (Less)
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author
organization
publishing date
type
Contribution to journal
publication status
published
subject
keywords
digital applications of computation, manipulator robots, control, computer, simulation of human movements, force control, robot control
in
Revista Iberoamericana de Automática e Informática Industrial
volume
6
issue
2
pages
49 - 49
publisher
Comité Español de Automática (CEA)
external identifiers
  • wos:000265693800005
ISSN
1697-7912
language
Spanish
LU publication?
yes
id
ac667400-9149-4868-a120-722b05c84310 (old id 1426572)
date added to LUP
2009-06-25 16:26:14
date last changed
2016-11-10 15:49:25
@article{ac667400-9149-4868-a120-722b05c84310,
  abstract     = {In this work the design of an experimental test Platform analysis of the mechanical behavior of car seats during passenger ingress and egress is presented. This development has been performed in two steps: the first Step is data acquisition. by means of a mat sensorized with a pressure gauge net and a photogrammetry system so as to acquire the movements performed by a human during ingress and egress. The Second Step Consists in reproducing these movements automatically by means of a dummy held by a robot. controlling the force applied by the dummy on the seat. This development must allow applying different force control strategies with industrial robots. therefore using I test platform consisting in an ABB IRB140 robot and a JR3 industrial force sensor with 6 degrees of freedom. As control architecture, two alternatives are presented. The first one uses the ABB Web Ware SDK software application. In the second one, the original S4CPlus controller has been modified. providing an open control architecture that allows the implementation of new motion and force control algorithms in the industrial robot. With this application the process performed by a human during and egress simulated, monitoring, and controlling the force applied by the dummy on the seat in order to ensure the Same conditions as in a real situation. The developed System has Several Practical applications, namely allowing the analysis of the wearing produced in the seat upholstery. Copyright (C) 2009 CEA.},
  author       = {Valera, Angel and Benimeli, F. and Solaz, J. and De Rosario, H. and Robertsson, Anders and Nilsson, Klas and Zotovic, R. and Mellado, M.},
  issn         = {1697-7912},
  keyword      = {digital applications of computation,manipulator robots,control,computer,simulation of human movements,force control,robot control},
  language     = {spa},
  number       = {2},
  pages        = {49--49},
  publisher    = {Comité Español de Automática (CEA)},
  series       = {Revista Iberoamericana de Automática e Informática Industrial},
  title        = {Development of an Experimental Test Bench by Means of Force Control in an Industrial Robot for the Analysis of the Mechanical Response in Car Seats},
  volume       = {6},
  year         = {2009},
}