摘要：This work focuses on synchronizing a 7-axis industrial robot with an object that is moved in the workspace by a human operator. In an experimental setup, the robot draws several curves on the moving object, where all 7 axes of the robot are in use. Based on feedback linearization, an active compliance control strategy is developed to synchronize the end-effector with the moving object. The path progress on the curve is dynamically monitored in order to stop it, if the object is moving too fast. Experiments show that a precise tracking accuracy is achieved besides a good human-robot usability.
