Force control of an industrial PUMA 560 robot under environmental constraints: implementation issues and experimental results

Force control of an industrial PUMA 560 robot under environmental constraints: implementation issues and experimental results

The problems of deformations occurring in a robot working in contact with the environment can be solved by taking into account forces exerted at the end-effector level. A solution to compensate for these deformations by using a force control scheme is given. The results, which are illustrated in the...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: Degoulange, E., Dauchez, P., Pierrot, F.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Drilling
Force control
Force sensors
Industrial control
Manipulators
Robot control
Robot kinematics
Robot sensing systems
Robotic assembly
Service robots
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Beschreibung
Zusammenfassung:The problems of deformations occurring in a robot working in contact with the environment can be solved by taking into account forces exerted at the end-effector level. A solution to compensate for these deformations by using a force control scheme is given. The results, which are illustrated in the form of graphs, are obtained from experiments on a real robotic setup built around a PUMA 560 robot.< >
DOI:10.1109/ROBOT.1993.291985