ICRA 2012 Paper Abstract

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Paper TuD04.5

Lange, Friedrich (German Aerospace Center (DLR)), Jehle, Claudius (German Aerospace Center (DLR)), Suppa, Michael (German Aerospace Center (DLR)), Hirzinger, Gerd (German Aerospace Center (DLR))

Revised Force Control Using a Compliant Sensor with a Position Controlled Robot

Scheduled for presentation during the Regular Session "Force, Torque and Contacts in Grasping and Assembly" (TuD04), Tuesday, May 15, 2012, 17:30−17:45, Meeting Room 4 (Chief Wabasha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 22, 2018

Keywords Force Control, Contact Modelling, Industrial Robots

Abstract

A different way of force control is presented, that is especially advantageous for position controlled robots. Instead of usual force control laws we rely on the well tuned position control loop and just use the force sensor to measure the target pose or to predict the desired trajectory. In combination with a compliant sensor we introduce an inherently stable framework of force control which almost inhibits all control errors. After an unexpected impact the force error is reduced independently from the sensor's bandwidth or delays in signal processing. Thus the (inevitable) impact force is more significant than the measured force control errors. The special case of a sensor that is mounted far away from a vertex-face contact is discussed, too.

 

 

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