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Paper TuD04.6

Stolt, Andreas (Lund University), Linderoth, Magnus (Lund University), Robertsson, Anders (LTH, Lund University), Johansson, Rolf (Lund University)

Force Controlled Robotic Assembly without a Force Sensor

Scheduled for presentation during the Regular Session "Force, Torque and Contacts in Grasping and Assembly" (TuD04), Tuesday, May 15, 2012, 17:45−18:00, 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 December 13, 2017

Keywords Force Control, Compliant Assembly, Industrial Robots

Abstract

The traditional way of controlling an industrial robot is to program it to follow desired trajectories. This approach is sufficient as long as the accuracy of the robot and the calibration of the workcell is good enough. In robotic assembly these conditions are usually not fulfilled, because of uncertainties, e.g., variability in involved parts and objects not gripped accurately. Using force control is one way to handle these difficulties. This paper presents a method of doing force control without a force sensor. The method is based on detuning of the low-level joint control loops, and the force is estimated from the control error. It is experimentally verified in a small part assembly task with a kinematically redundant robotic manipulator.

 

 

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