Publication detail

Force-Torque Control Methodology for Industrial Robots Applied on Finishing Operations

KUBELA, T. POCHYLÝ, A. SINGULE, V. FLEKAL, L.

Original Title

Force-Torque Control Methodology for Industrial Robots Applied on Finishing Operations

English Title

Force-Torque Control Methodology for Industrial Robots Applied on Finishing Operations

Type

conference paper

Language

Czech

Original Abstract

The paper deals with the force-torque control methodology for industrial robots that can be more or less applied on a variety of industrial applications such as grinding, drilling, automatic assembly or other applications where the key aspect is to control the physical contact between a tool and a workpiece mounted on the robot gripper or vice versa. In other words, contact forces and respective moments need to be controlled in real-time. The experimental set-up is based mainly on a KUKA robot (KR3, KR 16), FTC sensor (SCHUNK FTC-050), external PLC system (Embedded PC Beckhoff) for main control structures and other devices. Main practical results are concerned with determining the contact between a workpiece, grasped in the robot gripper, and the surface while maintaining a constant force during robot motion.

English abstract

The paper deals with the force-torque control methodology for industrial robots that can be more or less applied on a variety of industrial applications such as grinding, drilling, automatic assembly or other applications where the key aspect is to control the physical contact between a tool and a workpiece mounted on the robot gripper or vice versa. In other words, contact forces and respective moments need to be controlled in real-time. The experimental set-up is based mainly on a KUKA robot (KR3, KR 16), FTC sensor (SCHUNK FTC-050), external PLC system (Embedded PC Beckhoff) for main control structures and other devices. Main practical results are concerned with determining the contact between a workpiece, grasped in the robot gripper, and the surface while maintaining a constant force during robot motion.

Keywords

force-torque control; industrial robot; finishing operation, path correction, realtime control

Key words in English

force-torque control; industrial robot; finishing operation, path correction, realtime control

Authors

KUBELA, T.; POCHYLÝ, A.; SINGULE, V.; FLEKAL, L.

RIV year

2011

Released

21. 9. 2011

Publisher

Springer-Verlag

Location

Berlin Heidelberg

ISBN

978-3-642-23243-5

Book

Mechatronics Recent Technological and Scientific Advances

Edition

1

Edition number

1

Pages from

429

Pages to

437

Pages count

9

BibTex

@inproceedings{BUT88918,
  author="Tomáš {Kubela} and Aleš {Pochylý} and Vladislav {Singule} and Lukáš {Flekal}",
  title="Force-Torque Control Methodology for Industrial Robots Applied on Finishing Operations",
  booktitle="Mechatronics Recent Technological and Scientific Advances",
  year="2011",
  series="1",
  number="1",
  pages="429--437",
  publisher="Springer-Verlag",
  address="Berlin Heidelberg",
  isbn="978-3-642-23243-5"
}