A model-based residual approach for human-robot collaboration during manual polishing operations
A fully robotized polishing of metallic surfaces may be insufficient in case of parts with complex geometric shapes, where a manual intervention is still preferable. Within the EU SYMPLEXITY project, we are considering tasks where manual polishing operations are performed in strict physical Human-Robot Collaboration (HRC) between a robot holding the part and a human operator equipped with an abrasive tool. During the polishing task, the robot should firmly keep the workpiece in a prescribed sequence of poses, by monitoring and resisting to the external forces applied by the operator.