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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: 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.


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


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


2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • ISBN: 1-4244-0258-1

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