There are assembly tasks which require a compliant device at the end-effector since possible disturbances are beyond the bandwidth of robot control. This paper discusses a compliant force-torque sensor for assembly. Two aspects are explained in detail: Force control considering a significant force dependent displacement, and control of an end-effector with an elastic mounting during fast unconstrained motion. The latter uses an adaptive scheme which serves as a further level in a hierarchical position-based control. Experimental results are given which show the limits of industrial robots.


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    Title :

    Control with a Compliant Force-Torque Sensor


    Contributors:

    Conference:

    2012 ; Munich, Germany


    Publication date :

    2012-05-21


    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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