Detail publikace

Force-torque control of industrial robot for industrial applications

Originální název

Force-torque control of industrial robot for industrial applications

Anglický název

Force-torque control of industrial robot for industrial applications

Jazyk

en

Originální abstrakt

The paper deals with the force-torque control for industrial robots for various types of applications such as grinding, drilling, automatic assembly or other applications where contact forces and respective moments need to be controlled in real-time. The experimental set-up is based mainly on a KUKA robot (KR3 or KR15/2) and a FTC sensor (by SCHUNK). Main practical results are concerned with automatic grinding of specific parts provided by industrial partners. Another prospective area covered in this paper is also the interaction between the robot and an operator known as Human Robot Interaction or Cooperation drawing on the FTC paradigm. Pilot results were presented using the cascade control architecture where a desired contact force with object surfaces can be controlled allowing the robot to follow object profiles (for grinding applications) or for the programming-by-demonstration concept.

Anglický abstrakt

The paper deals with the force-torque control for industrial robots for various types of applications such as grinding, drilling, automatic assembly or other applications where contact forces and respective moments need to be controlled in real-time. The experimental set-up is based mainly on a KUKA robot (KR3 or KR15/2) and a FTC sensor (by SCHUNK). Main practical results are concerned with automatic grinding of specific parts provided by industrial partners. Another prospective area covered in this paper is also the interaction between the robot and an operator known as Human Robot Interaction or Cooperation drawing on the FTC paradigm. Pilot results were presented using the cascade control architecture where a desired contact force with object surfaces can be controlled allowing the robot to follow object profiles (for grinding applications) or for the programming-by-demonstration concept.

BibTex


@inproceedings{BUT35711,
  author="Aleš {Pochylý} and Tomáš {Kubela} and Vladislav {Singule}",
  title="Force-torque control of industrial robot for industrial applications",
  annote="The paper deals with the force-torque control for industrial robots for various types of applications such as grinding, drilling, automatic assembly or other applications where contact forces and respective moments need to be controlled in real-time. The experimental set-up is based mainly on a KUKA robot (KR3 or KR15/2) and a FTC sensor (by SCHUNK). Main practical results are concerned with automatic grinding of specific parts provided by industrial partners. Another prospective area covered in this paper is also the interaction between the robot and an operator known as Human Robot Interaction or Cooperation drawing on the FTC paradigm.
Pilot results were presented using the cascade control architecture where a desired contact force with object surfaces can be controlled allowing the robot to follow object profiles (for grinding applications) or for the programming-by-demonstration concept.",
  address="Institute of Thermomechanics, Academy of Sciences of the Czech Republic",
  booktitle="Engineering Mechanics 2010 - Book of Extended Abstracts",
  chapter="35711",
  howpublished="electronic, physical medium",
  institution="Institute of Thermomechanics, Academy of Sciences of the Czech Republic",
  year="2010",
  month="may",
  pages="105--106",
  publisher="Institute of Thermomechanics, Academy of Sciences of the Czech Republic",
  type="conference paper"
}