کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
712626 892154 2006 6 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
AN APPROACH TO COMPLIANT MOTION OF AN INDUSTRIAL MANIPULATOR
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مکانیک محاسباتی
پیش نمایش صفحه اول مقاله
AN APPROACH TO COMPLIANT MOTION OF AN INDUSTRIAL MANIPULATOR
چکیده انگلیسی

This article presents an approach to robot force control for a compliant motion task with a commercial robot system. It consists of two parts: First is the algorithm for fast and sure environment contact detection. Second is the hybrid position/force control algorithm for contour following of an unknown surface. It contains the estimation of gradient of environment surface at contact point and the adaptation of working velocity. The approach is implemented in the robot controller and its functionality is shown on the drawing example task. The results of new algorithm are compared with results of the standard force control functions.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: IFAC Proceedings Volumes - Volume 39, Issue 15, 2006, Pages 506–511
نویسندگان
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