Implementation of Industrial Robot Force Control Case Study: High Power Stub Grinding and Deburring

Summary, in English

In this paper, the results from a joint industry-academia project in industrial robotic force control are presented. The extension and implementation of an external sensor system for an industrial robot system, which can be used for high-bandwidth force control, are described. Results from two industrial applications using the system are presented, a stub grinding application using a new compliant grinding end-effector integrated with the robot control system, and a deburring application with a stiff tool requiring high-bandwidth force control in six degrees of freedom. Using the system an easily reconfigurable control structure was achieved, which was able to control contact forces with a sampling bandwidth of an order of magnitude higher than for conventional robot controllers

• Author: Anders Robertsson; Tomas Olsson; Rolf Johansson; Anders Blomdell; Klas Nilsson; Mathias Haage; B Lauwers; H de Baerdemaeker; Torgny Brogårdh; Håkan Brantmark
• Department/s: Department of Automatic Control; Department of Computer Science; Robotics and Semantic Systems
• Publishing year: 2006
• Language: English
• Pages: 2743-2748
• Publication/Series: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE Cat. No. 06CH37780D)
• Links: http://dx.doi.org/10.1109/IROS.2006.282000
• Document type: Conference paper
• Publisher: IEEE - Institute of Electrical and Electronics Engineers Inc.
• Topic: Computer Science; Control Engineering
• Keywords: grinding end-effector; stub deburring; industrial robot force control; high power stub grinding; reconfigurable control structure; motion control
• Conference name: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
• Conference date: 2006-10-09 - 2006-10-15
• Conference place: Beijing, China
• Status: Published
• Project: FlexAA; SMErobot; RobotLab LTH; AUTOFETT
• ISBN/ISSN/Other: ISBN: 1-4244-0258-1