Title :
Implicit force control for an industrial robot with flexible joints and flexible links
Author :
Rossi, Roberto ; Bascetta, Luca ; Rocco, Paolo
Author_Institution :
Dipt. di Elettron., Inf. e Bioingegneria, Politec. di Milano, Milan, Italy
Abstract :
The main purpose of this paper is to present an implicit force control scheme for 6 DoF industrial robots, whose compliance model takes into account both joint and link elasticities. The system composed by the robot and the environment is modeled by means of a simple equivalent elasticity at the end effector. A method to avoid limit cycles due to friction during force control applications is then proposed. The compliance model and the force control are experimentally validated on a industrial robot equipped with a force sensor.
Keywords :
compliance control; elasticity; end effectors; flexible manipulators; force control; force sensors; industrial manipulators; DoF industrial robots; end effector; equivalent elasticity; flexible joints; flexible links; force sensor; implicit force control scheme; joint elasticities; link elasticities; Elasticity; End effectors; Force control; Joints; Mathematical model; Service robots;
Conference_Titel :
Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on
Conference_Location :
Chicago, IL
DOI :
10.1109/IROS.2014.6943237
