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.


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    Titel :

    Control with a Compliant Force-Torque Sensor


    Beteiligte:
    Lange, Friedrich (Autor:in) / Suppa, Michael (Autor:in) / Hirzinger, Gerd (Autor:in)

    Kongress:

    2012 ; Munich, Germany


    Erscheinungsdatum :

    2012-05-21


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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