ICRA 2011 Paper Abstract


Paper TuA105.1

Zanchettin, Andrea Maria (Politecnico di Milano), Rocco, Paolo (Politecnico di Milano), Robertsson, Anders (LTH, Lund University), Johansson, Rolf (Lund University)

Exploiting task redundancy in industrial manipulators during drilling operations

Scheduled for presentation during the Regular Sessions "Advanced Robot Control" (TuA105), Tuesday, May 10, 2011, 08:20−08:35, Room 3G

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Redundant Robots, Kinematics, Industrial Robots


A drilling task requires a mechanism with five degrees of freedom, in order to achieve the correct position and orientation of the drilling tool. When performed with a standard 6-axes industrial robot, this task leaves an extra degree of freedom that can be exploited in order to achieve any additional criterion. Unfortunately, typical industrial robotic control architectures do not allow the user to modify the inverse kinematics algorithm, and thus to solve task redundancy following any specified criterion. In this paper a method to enforce an arbitrary redundancy resolution criterion on top of an industrial robot controller is discussed and applied to the execution of a drilling task. The extra degree of freedom is used to perform a torque-effective drilling. Experimental results achieved on the ABB IRB 140 industrial robot are presented.



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