Is Force Monitoring in Cooperating Industrial Robots Necessary?
Conference: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
06/07/2010 - 06/09/2010 at Munich, Germany
Proceedings: ISR/ROBOTIK 2010
Pages: 8Language: englishTyp: PDFPersonal VDE Members are entitled to a 10% discount on this title
Reinhart, Gunther; Zaidan, Sherif; Hubele, Jörg (Institute for Machine Tools and Industrial Management, Technical University Munich, Germany)
Force monitoring and control for cooperating robots has been a favorite issue for control researchers in the latter decade. Despite the research effort, the widespread industrial application thereof is still considered non-existent given its potential. In this essay, the issue of force monitoring in Cooperating Industrial Robots (CIR) and the consequences thereof are scrutinized by demonstrating a multitude of programming applications built on force control. Based on motion and force requirements of a given process, the ability to improve the system by integrating the force signals into the main control loop is discussed in the context of a universal work-piece based approach. The proposed approach is largely built upon (a) a comprehensive signal switching technique and (b) a multi-layered control architecture. To validate the technical and practical feasibility of the proposed method, several experiments are executed on an industrial test-rig.