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Experimental test-bench development using force control with industrial robots for the analysis of the mechanical response in car seats

Författare:
Publiceringsår: 2008
Språk: Engelska
Sidor: 777-783
Dokumenttyp: Konferensbidrag

Sammanfattning

Modern safe and high-quality products not only need to have desired properties in terms of geometry, material, features, etc. from a position-interaction point of view. Also compliance, deflection, impact and safety features depending on force-interacting properties are of (increasing) importance. As a key such example, the mechanical response of car seats has been studied, including the contact force between humans and the seat. The question is if or how the usage of the product can be simulated by using a dummy in combination with a robot that accomplishes realistic movements including the forces acting on the product. Since robots today are not designed for such force-interaction schemes, the topic involves the extension of robot controllers for force control.

The developed platform, including novel force control strategies and tools, includes an industrial robot system that was extended by sensors and interfaces for force/torque and vision feedback. To improve usability and programmability, ActiveX controls and testing application were developed. The experimental results show good performance for testing of the studied product, indicating a wider applicability of robots for product testing.

Disputation

Nyckelord

  • Technology and Engineering
  • human movement simulation
  • control applications
  • Force control
  • impedance control
  • computer control systems
  • robot control

Övriga

8th Portuguese Conference on Automatic Control
2008-07-21/2008-07-23
Vila Real, Portugal
Published
Yes
  • LCCC

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