Detail publikace
FORCE-TORQUE CONTROL METHODS FOR INDUSTRIAL ROBOTS
FLEKAL, L. KUBELA, T. POCHYLÝ, A. SINGULE, V.
Originální název
FORCE-TORQUE CONTROL METHODS FOR INDUSTRIAL ROBOTS
Typ
článek ve sborníku ve WoS nebo Scopus
Jazyk
angličtina
Originální abstrakt
The paper deals with Force – Torque control methods for industrial robots. The key aspect of these methods is to control a contact between a tool and a workpiece when either the tool or the workpiece is mounted on the robot flange. Real-time control of contact forces and moments is necessary. It is suitable to use it on a variety of industrial operations such as grinding, deburring, other machining operations or automatic assembly. The experimental set-up is based on a KUKA robot with FTC sensor (SCHUNK FTC-050) mounted on the robot and an external PLC system used for main control and connecting other essential sensors and devices. Main practical results are concerned with a design of specific end effector for a specific workpiece and with determining the contact between a workpiece and the surface maintaining a constant force during robot motion.
Klíčová slova
Force-torque control, industrial robots, real-time control, PLC, robot motion
Autoři
FLEKAL, L.; KUBELA, T.; POCHYLÝ, A.; SINGULE, V.
Rok RIV
2012
Vydáno
17. 7. 2012
Nakladatel
Institute of Theoretical and Applied Mechanics
Místo
Praha
ISBN
978-80-86246-40-6
Kniha
Engineering mechanics 2012 Conference proceedings
Číslo edice
1
Strany od
263
Strany do
268
Strany počet
6
BibTex
@inproceedings{BUT92961,
author="Lukáš {Flekal} and Tomáš {Kubela} and Aleš {Pochylý} and Vladislav {Singule}",
title="FORCE-TORQUE CONTROL METHODS FOR INDUSTRIAL ROBOTS",
booktitle="Engineering mechanics 2012 Conference proceedings",
year="2012",
number="1",
pages="263--268",
publisher="Institute of Theoretical and Applied Mechanics",
address="Praha",
isbn="978-80-86246-40-6"
}