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Implementation of Industrial Robot Force Control - Case Study: High Power Stub Grinding and Deburring

Publiceringsår: 2006
Språk: Engelska
Sidor: 2743-2748
Publikation/Tidskrift/Serie: Proc. 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2006)
Dokumenttyp: Konferensbidrag


In this paper, the results from a joint industry-academia project in industrial robotic force control are presented. The extension and implementation of an external sensor system for an industrial robot system, which can be used for high-bandwidth force control, are described. Results from two industrial applications using the system are presented, a stub grinding application using a new compliant grinding end-effector integrated with the robot control system, and a deburring application with a stiff tool requiring high-bandwidth force control in six degrees of freedom. Using the system an easily reconfigurable control structure was achieved, which was able to control contact forces with a sampling bandwidth of an order of magnitude higher than for conventional robot controllers.



  • Technology and Engineering
  • industrial applications
  • Contact force control
  • robot


2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS2006
Beijing, China
  • EU FP5
  • ISBN: 1-4244-0259-X

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