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Force Controlled Robotic Assembly without a Force Sensor

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Author

Summary, in English

The traditional way of controlling an industrial robot is to program it to follow desired trajectories. This approach is sufficient as long as the accuracy of the robot and the calibration of the workcell is good enough. In robotic assembly these conditions are usually not fulfilled, because of uncertainties, e.g., variability in involved parts and objects not gripped accurately. Using force control is one way to handle these difficulties. This paper presents a method of doing force control without a force sensor. The method is based on detuning of the low-level joint control loops, and the force is estimated from the control error. It is experimentally verified in a small part assembly task with a kinematically redundant robotic manipulator.

Publishing year

2012

Language

English

Pages

1538-1543

Publication/Series

IEEE International Conference on Robotics and Automation (ICRA), 2012

Document type

Conference paper

Publisher

IEEE - Institute of Electrical and Electronics Engineers Inc.

Topic

  • Control Engineering

Keywords

  • Force control
  • robotic assembly

Conference name

IEEE International Conference on Robotics and Automation, 2012

Conference date

2012-05-14 - 2012-05-18

Conference place

St Paul, MN, United States

Status

Published

Project

  • ROSETTA

Research group

  • LCCC

ISBN/ISSN/Other

  • ISSN: 1050-4729
  • ISSN: 2152-4092
  • ISBN: 978-1-4673-1403-9