Surface treatment operations, such as sanding, deburring, finishing, grinding, polishing, etc. are progressively becoming more automated using robotic systems. However, previous research in this field used a completely automatic operation of the robot system or considered a low degree of human-robot interaction. Therefore, to overcome this issue, this work develops a truly synergistic cooperation between the human operator and the robot system to get the best from both. In particular, in the application developed in this work the human operator provides flexibility, guiding the tool of the robot system to treat arbitrary regions of the workpiece surface; while the robot system provides strength, accuracy and security, not only holding the tool and keeping the right tool orientation, but also guaranteeing a smooth approach to the workpiece and confining the tool within the allowed area close to the workpiece. Moreover, to add more flexibility to the proposed method, when the user is not guiding the robot tool, a robot automatic operation is activated to perform the treatment in prior established regions. Furthermore, a camera network is used to get a global view of the robot workspace in order to obtain the workpiece location accurately and in real-time. The effectiveness of the proposed approach is shown with several experiments using a 6R robotic arm.

使用机器人系统的表面处理操作，例如打磨，去毛刺，精加工，研磨，抛光等，正逐渐变得更加自动化。但是，该领域的先前研究使用了机器人系统的全自动操作，或者认为人机交互的程度很低。因此，为了克服这个问题，这项工作在操作员和机器人系统之间发展了真正的协同合作，以从两者中获得最大的收益。特别是，在这项工作开发的应用程序中，操作员可以提供灵活性，引导机器人系统的工具来处理工件表面的任意区域。机器人系统不仅提供力量，准确性和安全性，而且不仅可以握住工具并保持正确的工具方向，而且还可以确保平稳地接近工件并将刀具限制在靠近工件的允许区域内。而且，为了给所提出的方法增加更多的灵活性，当用户不引导机器人工具时，激活机器人自动操作以在先前建立的区域中执行治疗。此外，摄像机网络用于获取机器人工作空间的全局视图，以便准确，实时地获取工件位置。使用6R机械臂进行的几次实验表明了该方法的有效性。摄像机网络用于获取机器人工作区的全局视图，以便准确，实时地获取工件位置。使用6R机械臂进行的几次实验表明了该方法的有效性。摄像机网络用于获取机器人工作区的全局视图，以便准确，实时地获取工件位置。使用6R机械臂进行的几次实验表明了该方法的有效性。