FORCE-TORQUE CONTROL METHODS FOR INDUSTRIAL ROBOTS
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F12%3APU99088" target="_blank" >RIV/00216305:26210/12:PU99088 - isvavai.cz</a>
Result on the web
—
DOI - Digital Object Identifier
—
Alternative languages
Result language
angličtina
Original language name
FORCE-TORQUE CONTROL METHODS FOR INDUSTRIAL ROBOTS
Original language description
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 (SCHUNKFTC-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 determiningthe contact between a workpiece and the surface maintaining a constant force during robot motion.
Czech name
—
Czech description
—
Classification
Type
D - Article in proceedings
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
—
Result continuities
Project
<a href="/en/project/EE2.3.09.0162" target="_blank" >EE2.3.09.0162: Knowledge and Skills in Mechatronics - Innovations Transfer to Practice</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach
Others
Publication year
2012
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 2012 Conference proceedings
ISBN
978-80-86246-40-6
ISSN
—
e-ISSN
—
Number of pages
6
Pages from-to
263-268
Publisher name
Institute of Theoretical and Applied Mechanics
Place of publication
Praha
Event location
Svratka
Event date
May 14, 2012
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
—