Detail publikace

FORCE-TORQUE CONTROL METHODS FOR INDUSTRIAL ROBOTS

FLEKAL, L. KUBELA, T. POCHYLÝ, A. SINGULE, V.

Originální název

FORCE-TORQUE CONTROL METHODS FOR INDUSTRIAL ROBOTS

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

Originální abstrakt

The paper deals with Force – Torque control methods for industrial robots. The key aspect of these methods is to control a contact between a tool and a workpiece when either the tool or the workpiece is mounted on the robot flange. Real-time control of contact forces and moments is necessary. It is suitable to use it on a variety of industrial operations such as grinding, deburring, other machining operations or automatic assembly. The experimental set-up is based on a KUKA robot with FTC sensor (SCHUNK FTC-050) mounted on the robot and an external PLC system used for main control and connecting other essential sensors and devices. Main practical results are concerned with a design of specific end effector for a specific workpiece and with determining the contact between a workpiece and the surface maintaining a constant force during robot motion.

Klíčová slova

Force-torque control, industrial robots, real-time control, PLC, robot motion

Autoři

FLEKAL, L.; KUBELA, T.; POCHYLÝ, A.; SINGULE, V.

Rok RIV

2012

Vydáno

17. 7. 2012

Nakladatel

Institute of Theoretical and Applied Mechanics

Místo

Praha

ISBN

978-80-86246-40-6

Kniha

Engineering mechanics 2012 Conference proceedings

Číslo edice

1

Strany od

263

Strany do

268

Strany počet

6

BibTex

@inproceedings{BUT92961,
  author="Lukáš {Flekal} and Tomáš {Kubela} and Aleš {Pochylý} and Vladislav {Singule}",
  title="FORCE-TORQUE CONTROL METHODS FOR INDUSTRIAL ROBOTS",
  booktitle="Engineering mechanics 2012 Conference proceedings",
  year="2012",
  number="1",
  pages="263--268",
  publisher="Institute of Theoretical and Applied Mechanics",
  address="Praha",
  isbn="978-80-86246-40-6"
}