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.

Exploiting Task Redundancy in Industrial Manipulators during Drilling Operations

På svenska

Author

Summary, in English

A drilling task requires a mechanism with five degrees of freedom, in order to achieve the correct position and orientation of the drilling tool. When performed with a standard 6-axes industrial robot, this task leaves an extra degree of freedom that can be exploited in order to achieve any additional criterion. Unfortunately, typical industrial robotic control architectures do not allow the user to modify the inverse kinematics algorithm, and thus to solve task redundancy following any specified criterion. In this paper, a method to enforce an arbitrary redundancy resolution criterion on top of an industrial robot controller is discussed and applied to the execution of a drilling task. The extra degree of freedom is used to perform a torque-effective drilling. Experimental results achieved on the ABB IRB 140 industrial robot are presented.

Publishing year

2011

Language

English

Publication/Series

Proc. 2011 IEEE International Conference on Robotics and Automation (ICRA2011)

Document type

Conference paper

Topic

  • Control Engineering

Conference name

IEEE International Conference on Robotics and Automation, 2011

Conference date

2011-05-09 - 2011-05-13

Conference place

Shanghai, China

Status

Published

Project

  • Robotics Lab LTH
  • ROSETTA

Research group

  • LCCC