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

Författare

Summary, in English

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

Publiceringsår

2006

Språk

Engelska

Sidor

2743-2748

Publikation/Tidskrift/Serie

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE Cat. No. 06CH37780D)

Dokumenttyp

Konferensbidrag

Förlag

IEEE - Institute of Electrical and Electronics Engineers Inc.

Ämne

  • Computer Science
  • Control Engineering

Nyckelord

  • grinding end-effector
  • stub deburring
  • industrial robot force control
  • high power stub grinding
  • reconfigurable control structure
  • motion control

Conference name

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

Conference date

2006-10-09 - 2006-10-15

Conference place

Beijing, China

Status

Published

Projekt

  • FlexAA
  • SMErobot
  • RobotLab LTH
  • AUTOFETT

ISBN/ISSN/Övrigt

  • ISBN: 1-4244-0258-1