Force-torque control of industrial robot for industrial applications
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F10%3APU87742" target="_blank" >RIV/00216305:26210/10:PU87742 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Force-torque control of industrial robot for industrial applications
Original language description
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. Theexperimental 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.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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Result continuities
Project
<a href="/en/project/FR-TI1%2F169" target="_blank" >FR-TI1/169: *Adaptive Force-torque Control of Robots for Industrial Applications</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2010
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Engineering Mechanics 2010 - Book of Extended Abstracts
ISBN
978-80-87012-26-0
ISSN
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e-ISSN
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Number of pages
2
Pages from-to
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Publisher name
Institute of Thermomechanics, Academy of Sciences of the Czech Republic
Place of publication
Prague, Czech Republic
Event location
Svratka
Event date
May 10, 2010
Type of event by nationality
CST - Celostátní akce
UT code for WoS article
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