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Exploiting Task Redundancy in Industrial Manipulators during Drilling Operations

In English

Författare

Summary, in English

A drilling task requires a mechanism with five degrees of freedom, in order to achieve the correct position and orientation of the drilling tool. When performed with a standard 6-axes industrial robot, this task leaves an extra degree of freedom that can be exploited in order to achieve any additional criterion. Unfortunately, typical industrial robotic control architectures do not allow the user to modify the inverse kinematics algorithm, and thus to solve task redundancy following any specified criterion. In this paper, a method to enforce an arbitrary redundancy resolution criterion on top of an industrial robot controller is discussed and applied to the execution of a drilling task. The extra degree of freedom is used to perform a torque-effective drilling. Experimental results achieved on the ABB IRB 140 industrial robot are presented.

Publiceringsår

2011

Språk

Engelska

Publikation/Tidskrift/Serie

Proc. 2011 IEEE International Conference on Robotics and Automation (ICRA2011)

Dokumenttyp

Konferensbidrag

Ämne

  • Control Engineering

Conference name

IEEE International Conference on Robotics and Automation, 2011

Conference date

2011-05-09 - 2011-05-13

Conference place

Shanghai, China

Status

Published

Projekt

  • Robotics Lab LTH
  • ROSETTA

Forskningsgrupp

  • LCCC