Force Controlled Contour Following by an Industrial Robot on Unknown Objects with Tool Orientation Control

Konferenz: ISR/Robotik 2014 - 45th International Symposium on Robotics; 8th German Conference on Robotics
02.06.2014 - 03.06.2014 in München, Germany

Tagungsband: ISR/Robotik 2014

Seiten: 6Sprache: EnglischTyp: PDF

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Autoren:
Winkler, Alexander (Hochschule Mittweida, University of Applied Sciences, Germany)
Suchy, Jozef (Technische Universitaet Chemnitz, Germany)

Inhalt:
This paper deals with force controlled contour following performed by a position controlled industrial robot. In some kinds of contour following tasks it may be necessary to keep the robot tool in a constant orientation with respect to the inclination angle of the contact environment. For this purpose the paper investigates different approaches of tool orientation control as a function of the environment inclination angle in the contact point. All presented approaches are verified and compared by real experiments.