Publication detail
Force-Torque Control Methodology for Industrial Robots Applied on Finishing Operations
KUBELA, T. POCHYLÝ, A. SINGULE, V. FLEKAL, L.
Czech 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
cs
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.
Czech 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 in Czech
force-torque control; industrial robot; finishing operation, path correction, realtime control
Keywords in English
force-torque control; industrial robot; finishing operation, path correction, realtime control
RIV year
2011
Released
21.09.2011
Publisher
Springer-Verlag
Location
Berlin Heidelberg
ISBN
978-3-642-23243-5
Book
Mechatronics Recent Technological and Scientific Advances
Edition number
1
Pages from–to
429–437
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",
month="September",
pages="429--437",
publisher="Springer-Verlag",
address="Berlin Heidelberg",
isbn="978-3-642-23243-5"
}