Detail publikace

FORCE-TORQUE CONTROL METHODS FOR INDUSTRIAL ROBOTS

Originální název

FORCE-TORQUE CONTROL METHODS FOR INDUSTRIAL ROBOTS

Anglický název

FORCE-TORQUE CONTROL METHODS FOR INDUSTRIAL ROBOTS

Jazyk

en

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.

Anglický 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.

BibTex 


@inproceedings{BUT92961,
  author="Lukáš {Flekal} and Tomáš {Kubela} and Aleš {Pochylý} and Vladislav {Singule}",
  title="FORCE-TORQUE CONTROL METHODS FOR INDUSTRIAL ROBOTS",
  annote="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.",
  address="Institute of Theoretical and Applied Mechanics",
  booktitle="Engineering mechanics 2012 Conference proceedings",
  chapter="92961",
  howpublished="print",
  institution="Institute of Theoretical and Applied Mechanics",
  year="2012",
  month="july",
  pages="263--268",
  publisher="Institute of Theoretical and Applied Mechanics",
  type="conference paper"
}