کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
414646 680997 2008 11 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
A force–impedance controlled industrial robot using an active robotic auxiliary device
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
A force–impedance controlled industrial robot using an active robotic auxiliary device
چکیده انگلیسی

A strategy to improve the performance of current commercial industrial robots is presented in this paper. This strategy involves cooperation of two robotic manipulators: the robotic controlled impedance device (RCID) and a commercial industrial robot. The RCID is a small six degrees-of-freedom (DOF) high bandwidth force–impedance controlled parallel manipulator, developed at the School of Engineering of the University of Porto (Portugal). The RCID works attached in series with a position controlled commercial industrial robot. Combination of the two manipulators behaves as a single manipulator having the impedance and force control dynamic performance of the RCID, as well as the workspace and trajectory tracking bandwidth of the industrial robot. Force–impedance control of the RCID, and experimental results on typical tasks that involve end-effector contact with uncertain environments of unknown stiffness are presented.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Computer-Integrated Manufacturing - Volume 24, Issue 3, June 2008, Pages 299–309
نویسندگان
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