Detail publikace

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

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

Originální název

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

Český název

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

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

cs

Originální abstrakt

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.

Český abstrakt

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.

Klíčová slova

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

Rok RIV

2011

Vydáno

21.09.2011

Nakladatel

Springer-Verlag

Místo

Berlin Heidelberg

ISBN

978-3-642-23243-5

Kniha

Mechatronics Recent Technological and Scientific Advances

Edice

1

Číslo edice

1

Strany od

429

Strany do

437

Strany počet

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",
  annote="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.",
  address="Springer-Verlag",
  booktitle="Mechatronics Recent Technological and Scientific Advances",
  chapter="88918",
  edition="1",
  howpublished="print",
  institution="Springer-Verlag",
  year="2011",
  month="september",
  pages="429--437",
  publisher="Springer-Verlag",
  type="conference paper"
}