This work develops a method to perform surface treatment tasks using a bimanual robotic system, i.e. two robot arms cooperatively performing the task. In particular, one robot arm holds the workpiece while the other robot arm has the treatment tool attached to its end-effector. Moreover, the human user teleoperates all the six coordinates of the former robot arm and two coordinates of the latter robot arm, i.e. the teleoperator can move the treatment tool on the plane given by the workpiece surface. Furthermore, a force sensor attached to the treatment tool is used to automatically attain the desired pressure between the tool and the workpiece and to automatically keep the tool orientation orthogonal to the workpiece surface. In addition, to assist the human user during the teleoperation, several constraints are defined for both robot arms in order to avoid exceeding the allowed workspace, e.g. to avoid collisions with other objects in the environment. The theory used in this work to develop the bimanual robot control relies on sliding mode control and task prioritisation. Finally, the feasibility and effectiveness of the method are shown through experimental results using two robot arms.

这项工作开发了一种使用双手机器人系统执行表面处理任务的方法，即两个机器人手臂协同执行任务。特别是，一个机器人手臂保持工件，而另一个机器人手臂将治疗工具连接到其末端执行器。而且，人类用户遥控操作前一个机械臂的所有六个坐标和后一个机械臂的两个坐标，即遥控操作者可以在工件表面给定的平面上移动治疗工具。此外，连接到治疗工具的力传感器用于自动获得工具和工件之间的所需压力，并自动保持工具方向与工件表面正交。此外，为了在远程操作期间协助人类用户，为两个机器人手臂定义了几个约束，以避免超出允许的工作空间，例如避免与环境中的其他物体发生碰撞。这项工作中用于开发双手机器人控制的理论依赖于滑模控制和任务优先级。最后，通过使用两个机器人手臂的实验结果证明了该方法的可行性和有效性。