Title: Decentralized multi-arm planning

Author of the experiment: Alessandro Marino & Jolanda Coppola

Description: A two-layer decentralized framework for kinematic control of cooperative and collaborative multi-robot systems is developed and tested. The motion of the system is specified at the workpiece level, by adopting a task-oriented formulation for cooperative tasks. The first layer computes the motion of the single arms in the system. In detail, the control unit of each robot computes the end-effector motion references in a decentralized fashion on the basis of the knowledge of the assigned cooperative task and the motion references computed by its neighbors. Then, in the second layer, each control unit computes the reference joint motion of the corresponding manipulator from the end-effector reference motion.

Setup: 2 Comau SmartSix robots installed at the Automatica Laboratory of University of Salerno.


Title: Cooperative drilling of aeronautic hybrid stacks

Author of the experiment: Alessandro Marino

Description: The proposed technology consists in a general robot architecture and a cooperative drilling process using only standard low-cost robots and off-the-shelf components. A first robot is in charge of drilling the hybrid stack, while a second manipulator ensures the right clamping force between the parts of the stack. Both robots are equipped with force control capabilities to control the generalized forces raising during the interaction with the stack. Thanks to the adoption of a fuzzy inference system, the tuning of the force controllers might be carried out by operators that have knowledge of the drilling process but not of control system technology.

Setup: 2 Comau SmartSix robots equipped with force/torque sensors installed at the Automatica Laboratory of University of Salerno.