1. Accurate sensorless lead-through programming for lightweight robots in structured environments Paolo Rocco
ERF Workshop on Teaching by Demonstration for Industrial Applications – Edinburgh, March 22, 2017

2. The problem
Lead through programming
Intuitive method for robot programming
Reduces the complexity of the programming phase
Setting up of a robotic application becomes easier and faster

3. The problem
Lead through programming
It needs additional hardware (F/T sensor)
It is not accurate
It can be unsafe

4. M. Ragaglia, A.M. Zanchettin, L. Bascetta, P. Rocco
The approach
It needs additional hardware
It is not accurate
It can be unsafe
Sensorless LTP (model-based force/torque estimator)
Voting system to identify a Cartesian direction of motion
Constraint-based controller with safety constraints
M. Ragaglia, A.M. Zanchettin, L. Bascetta, P. Rocco
“Accurate sensorless lead-through programming for lightweight robots in structured environments”
Robotics and Computer Integrated Manufacturing, Vol. 39, pp. 9-21, June 2016

5. The approach

6. The finite state machine (with the voting system)

7. Constraint-based control with obstacle avoidance
Best tracking of the output of the admittance filter, subject to several constraints.
Obstacle avoidance constraints

8. Experimental setup
without obstacles
with obstacles

9. An experiment of lead-through programming

10. What’s next?
Use of more complete dynamic models
Improve the smoothness of the robot motion
Technology transfer to industry