Abstract
Explosive loading in mountain tunneling requires automation due to a shortage of skilled workers and occupational accidents. However, automation is difficult because handling explosives demands delicate force control. This paper adopts motion reproduction based on human motion to consider the adjustment of force. Nevertheless, conventional methods fail when the hole's position differs from the recording. Therefore, a new method is proposed that detects hole positions using a stereo camera, performs calibration, and compensates for positional differences while reproducing the motion. Through experiments using industrial manipulators, it is confirmed that motions are reproduced for different hole positions from the recording.
| Original language | English |
|---|---|
| Pages (from-to) | 235-240 |
| Number of pages | 6 |
| Journal | IFAC-PapersOnLine |
| Volume | 59 |
| Issue number | 18 |
| DOIs | |
| Publication status | Published - 2025 Jul 1 |
| Event | 14th IFAC Symposium on Robotics, ROBOTICS 2025, held jointly with the 10th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2025 - Paris, France Duration: 2025 Jul 15 → 2025 Jul 18 |
Keywords
- force and compliance control
- haptic interaction
- sensory based robot control
- service robots
- telemanipulation
ASJC Scopus subject areas
- Control and Systems Engineering
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