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Force Controlled Robotic Assembly without a Force Sensor

In English

Författare

Summary, in English

The traditional way of controlling an industrial robot is to program it to follow desired trajectories. This approach is sufficient as long as the accuracy of the robot and the calibration of the workcell is good enough. In robotic assembly these conditions are usually not fulfilled, because of uncertainties, e.g., variability in involved parts and objects not gripped accurately. Using force control is one way to handle these difficulties. This paper presents a method of doing force control without a force sensor. The method is based on detuning of the low-level joint control loops, and the force is estimated from the control error. It is experimentally verified in a small part assembly task with a kinematically redundant robotic manipulator.

Publiceringsår

2012

Språk

Engelska

Sidor

1538-1543

Publikation/Tidskrift/Serie

IEEE International Conference on Robotics and Automation (ICRA), 2012

Dokumenttyp

Konferensbidrag

Förlag

IEEE - Institute of Electrical and Electronics Engineers Inc.

Ämne

  • Control Engineering

Nyckelord

  • Force control
  • robotic assembly

Conference name

IEEE International Conference on Robotics and Automation, 2012

Conference date

2012-05-14 - 2012-05-18

Conference place

St Paul, MN, United States

Status

Published

Projekt

  • ROSETTA

Forskningsgrupp

  • LCCC

ISBN/ISSN/Övrigt

  • ISSN: 1050-4729
  • ISSN: 2152-4092
  • ISBN: 978-1-4673-1403-9