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Force Controlled Robotic Assembly without a Force Sensor

Publiceringsår: 2012
Språk: Engelska
Sidor: 1538-1543
Publikation/Tidskrift/Serie: IEEE International Conference on Robotics and Automation (ICRA), 2012
Dokumenttyp: Konferensbidrag
Förlag: IEEE
Ytterligare information: Key=icra12a project=Rosetta month=May


The traditional way of controlling an industrial robot is to program it to follow desired trajectories. This approach is sufficient as long as the accuracy of the robot and the calibration of the workcell is good enough. In robotic assembly these conditions are usually not fulfilled, because of uncertainties, e.g., variability in involved parts and objects not gripped accurately. Using force control is one way to handle these difficulties. This paper presents a method of doing force control without a force sensor. The method is based on detuning of the low-level joint control loops, and the force is estimated from the control error. It is experimentally verified in a small part assembly task with a kinematically redundant robotic manipulator.



  • Control Engineering
  • Force control
  • robotic assembly


2012 IEEE International Conference on Robotics and Automation
St Paul, MN, USA
  • LCCC
  • ISSN: 1050-4729
  • ISBN: 978-1-4673-1403-9

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