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...

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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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container_end_page	218 vol.1
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creator	Degoulange, E. Dauchez, P. Pierrot, F.
description	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_str_mv	10.1109/ROBOT.1993.291985
format	Conference Proceeding
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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.< ></description><identifier>ISBN: 9780818634505</identifier><identifier>ISBN: 0818634502</identifier><identifier>DOI: 10.1109/ROBOT.1993.291985</identifier><language>eng</language><publisher>IEEE Comput. Soc. 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source	IEEE Electronic Library (IEL) Conference Proceedings
subjects	Drilling Force control Force sensors Industrial control Manipulators Robot control Robot kinematics Robot sensing systems Robotic assembly Service robots
title	Force control of an industrial PUMA 560 robot under environmental constraints: implementation issues and experimental results
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