The browser you are using is not supported by this website. All versions of Internet Explorer are no longer supported, either by us or Microsoft (read more here: https://www.microsoft.com/en-us/microsoft-365/windows/end-of-ie-support).

Please use a modern browser to fully experience our website, such as the newest versions of Edge, Chrome, Firefox or Safari etc.

Adaptation of Force Control Parameters in Robotic Assembly

På svenska

Author

Summary, in English

Industrial robots are usually programmed to follow desired trajectories, and are very good at position-controlled tasks. New applications, however, often require physical contact between the robot and its environment, and then the position control accuracy is generally not sufficient. Force control is a suitable alternative. The environment is often stiff, and then it is crucial to design appropriate force controllers, which is non-trivial for a robot programmer. This paper presents an adaptive algorithm for choosing force control parameters, based on identification of a contact model. The algorithm is experimentally verified in an assembly task with an industrial robot.

Publishing year

2012

Language

English

Pages

561-566

Publication/Series

IFAC Proceedings Volumes

Volume

45

Issue

22

Document type

Conference paper

Topic

  • Control Engineering

Conference name

10th International IFAC Symposium on Robot Control

Conference date

2012-09-05

Conference place

Dubrovnik, Croatia

Status

Published

Project

  • LU Robotics Laboratory
  • ROSETTA
  • LU Robotics Laboratory
  • ROSETTA

Research group

  • LCCC

ISBN/ISSN/Other

  • ISSN: 1474-6670
  • ISBN: 978-3-902823-11-3