Title :
Hybrid force/position control for two cooperative Staubli RX60 industrial robots
Author :
Bekalarek, Jacek ; Zawal, Radzimir ; Kozlowski, Krzysztof
Author_Institution :
Inst. of Control & Syst. Eng., Poznan Univ. of Technol., Poland
Abstract :
The hybrid force/position control for two cooperative Staubli RX60 industrial robots is considered. In this article a proposition of the impedance controller is outlined. The proposal described leads to an advanced research of the hybrid force/position control for cooperative industrial robots
Keywords :
cooperative systems; factory automation; force control; industrial robots; position control; Staubli RX60; cooperative robots; force control; hybrid control; impedance control; industrial robots; position control; Control systems; Electrical equipment industry; Force control; Force feedback; Impedance; Industrial control; Manipulator dynamics; Position control; Service robots; Three-term control;
Conference_Titel :
Robot Motion and Control, 2001 Proceedings of the Second International Workshop on
Conference_Location :
Bukowy Dworek
Print_ISBN :
83-7143-515-0
DOI :
10.1109/ROMOCO.2001.973471
