End-Effector Precise Hand-Guiding for Collaborative Robots

  • Mohammad Safeea
  • Richard Bearee
  • Pedro NetoEmail author
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 694)


Hand-guiding is a main functionality of collaborative robots, allowing to rapidly and intuitively interact and program a robot. Many applications require end-effector precision positioning during the teaching process. This paper presents a novel method for precision hand-guiding at the end-effector level. From the end-effector force/torque measurements the hand-guiding force/torque (HGFT) is achieved by compensating for the tools weight/inertia. Inspired by the motion properties of a passive mechanical system, mass subjected to coulomb/viscous friction, it was implemented a control scheme to govern the linear/angular motion of the decoupled end-effector. Experimental tests were conducted in a KUKA iiwa robot in an assembly operation.


Hand-guiding Collaborative robot End-effector 



This research was partially supported by Portugal 2020 project DM4Manufacturing POCI-01-0145-FEDER-016418 by UE/FEDER through the program COMPETE 2020, the European Unions Horizon 2020 research and innovation programme under grant agreement No 688807 - ColRobot project, and the Portuguese Foundation for Science and Technology (FCT) SFRH/BD/131091/2017.


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Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  1. 1.University of CoimbraCoimbraPortugal
  2. 2.Arts et Metiers ParisTech, LSIS Lille 8LILLE CedexFrance

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