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Adaptation of Force Control Parameters in Robotic Assembly

Författare:
Publiceringsår: 2012
Språk: Engelska
Sidor: 6
Dokumenttyp: Konferensbidrag
Ytterligare information: Key=SYROCO2012_stolt2

Sammanfattning

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.

Disputation

Nyckelord

  • Technology and Engineering

Övriga

10th International IFAC Symposium on Robot Control
2012-09-05
Dubrovnik, Croatia
Published
  • ROSETTA
Yes
  • LCCC

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