Detail publikačního výsledku

Force-torque control of industrial robot for industrial applications

POCHYLÝ, A.; KUBELA, T.; SINGULE, V.

Originální název

Force-torque control of industrial robot for industrial applications

Anglický název

Force-torque control of industrial robot for industrial applications

Druh

Stať ve sborníku v databázi WoS či Scopus

Originální abstrakt

The paper deals with the force-torque control for industrial robots for various types of applications such as grinding, drilling, automatic assembly or other applications where contact forces and respective moments need to be controlled in real-time. The experimental set-up is based mainly on a KUKA robot (KR3 or KR15/2) and a FTC sensor (by SCHUNK). Main practical results are concerned with automatic grinding of specific parts provided by industrial partners. Another prospective area covered in this paper is also the interaction between the robot and an operator known as Human Robot Interaction or Cooperation drawing on the FTC paradigm. Pilot results were presented using the cascade control architecture where a desired contact force with object surfaces can be controlled allowing the robot to follow object profiles (for grinding applications) or for the programming-by-demonstration concept.

Anglický abstrakt

The paper deals with the force-torque control for industrial robots for various types of applications such as grinding, drilling, automatic assembly or other applications where contact forces and respective moments need to be controlled in real-time. The experimental set-up is based mainly on a KUKA robot (KR3 or KR15/2) and a FTC sensor (by SCHUNK). Main practical results are concerned with automatic grinding of specific parts provided by industrial partners. Another prospective area covered in this paper is also the interaction between the robot and an operator known as Human Robot Interaction or Cooperation drawing on the FTC paradigm. Pilot results were presented using the cascade control architecture where a desired contact force with object surfaces can be controlled allowing the robot to follow object profiles (for grinding applications) or for the programming-by-demonstration concept.

Klíčová slova

robot, force-torque control, human-robot interaction

Klíčová slova v angličtině

robot, force-torque control, human-robot interaction

Autoři

POCHYLÝ, A.; KUBELA, T.; SINGULE, V.

Rok RIV

2011

Vydáno

10.05.2010

Nakladatel

Institute of Thermomechanics, Academy of Sciences of the Czech Republic

Místo

Prague, Czech Republic

ISBN

978-80-87012-26-0

Kniha

Engineering Mechanics 2010 - Book of Extended Abstracts

Strany od

105

Strany do

106

Strany počet

2

BibTex

@inproceedings{BUT35711,
  author="Aleš {Pochylý} and Tomáš {Kubela} and Vladislav {Singule}",
  title="Force-torque control of industrial robot for industrial applications",
  booktitle="Engineering Mechanics 2010 - Book of Extended Abstracts",
  year="2010",
  number="1",
  pages="105--106",
  publisher="Institute of Thermomechanics, Academy of Sciences of the Czech Republic",
  address="Prague, Czech Republic",
  isbn="978-80-87012-26-0"
}