Berk Güler

Robot-Assisted Drilling on a Curved Surface Drilling a hole on a Curved Surface with the desired angle is prone to failure. Trajectory planning of a fully automated robotic system to drill a hole can be impractical for complex shapes in the assembly line. We propose a pHRI system that includes the cobot, a spindle mounted to the end-effector of the cobot, and the holographic device. The cobot has been enhanced with haptic guidance and a 6 DoF adaptive admittance controller. In communication with the cobot, the holographic device provides real-time visual guidance to a human operator. Thanks to the proposed...

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