This dataset refers to the paper titled "Enabling Manual Guidance in High-Payload Industrial Robots for Flexible Manufacturing Applications in Large Workspaces" published on MDPI Machines journal (https://doi.org/10.3390/machines13111016). It contains the research material developed to implement manual guidance on both the 6DoF KUKA robot (KRC4 controller + Robot Sensor Interface package) and the 1DoF servoactuated linear robotic axis (Beckhoff PC, AX8118 Drive, AM8052 servomotor).
RSI Projects --> 6DoF manual guidance
- RSI project files to be loaded on the KUKA controller to enable external, sensor-guided, movements. They implement the logic described in Section 3.1 and Figure 4 of the paper.
- KRL scripts to be lanched to effectively run the tests
P.S. the folder contains also the files related to the load-sensing procedure, to be executed prior to starting the hand-guiding.
Experiments on Robot --> 6DoF manual guidance
- position and force data sampled during the physical tests on the KUKA robot.
- Matlab files used for data processing and plotting
PLC Projects --> 1DoF manual guidance
- PLC program implementing the simplified logig (refer to Figure 4, but considering only 1 DoF).
- MATLAB R202x
- WorkVisual / KUKA RSI
- Beckhoff TwinCAT 3