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Adaptation of Force Control Parameters in Robotic Assembly

In English

Författare

Summary, in English

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.

Publiceringsår

2012

Språk

Engelska

Sidor

561-566

Publikation/Tidskrift/Serie

IFAC Proceedings Volumes

Volym

45

Issue

22

Dokumenttyp

Konferensbidrag

Ämne

  • Control Engineering

Conference name

10th International IFAC Symposium on Robot Control

Conference date

2012-09-05

Conference place

Dubrovnik, Croatia

Status

Published

Projekt

  • LU Robotics Laboratory
  • ROSETTA
  • LU Robotics Laboratory
  • ROSETTA

Forskningsgrupp

  • LCCC

ISBN/ISSN/Övrigt

  • ISSN: 1474-6670
  • ISBN: 978-3-902823-11-3