There are assembly tasks which require a compliant device at the end-effector since possible disturbances are beyond the bandwidth of robot control. This paper discusses a compliant force-torque sensor for assembly. Two aspects are explained in detail: Force control considering a significant force dependent displacement, and control of an end-effector with an elastic mounting during fast unconstrained motion. The latter uses an adaptive scheme which serves as a further level in a hierarchical position-based control. Experimental results are given which show the limits of industrial robots.
Control with a Compliant Force-Torque Sensor
2012 ; Munich, Germany
2012-05-21
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Torque Measurement With Compliant Mechanisms
Online Contents | 2013
|Force and Acceleration Sensor Fusion for Compliant Robot Motion Control
BASE | 2005
|Revised Force Control Using a Compliant Sensor with a Position Controlled Robot
Deutsches Zentrum für Luft- und Raumfahrt (DLR) | 2012
|Revised Force Control Using a Compliant Sensor with a Position Controlled Robot
Deutsches Zentrum für Luft- und Raumfahrt (DLR) | 2012
|