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Adaptation of Force Control Parameters in Robotic Assembly

Publiceringsår: 2012
Språk: Engelska
Sidor: 561-566
Publikation/Tidskrift/Serie: 10th IFAC Symposium on Robot Control
Dokumenttyp: Konferensbidrag
Förlag: IFAC
Ytterligare information: Key=SYROCO2012_stolt2


Industrial robots are usually programmed to follow desired trajectories, and are very good at position-controlled tasks. New applications, however, often require physical contact between the robot and its environment, and then the position control accuracy is generally not sufficient. Force control is a suitable alternative. The environment is often stiff, and then it is crucial to design appropriate force controllers, which is non-trivial for a robot programmer. This paper presents an adaptive algorithm for choosing force control parameters, based on identification of a contact model. The algorithm is experimentally verified in an assembly task with an industrial robot.



  • Control Engineering


10th International IFAC Symposium on Robot Control
Dubrovnik, Croatia
  • LCCC
  • ISSN: 1474-6670
  • ISBN: 978-3-902823-11-3

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