Force Controlled Contour Following by an Industrial Robot on Unknown Objects with Tool Orientation Control
Conference: ISR/Robotik 2014 - 45th International Symposium on Robotics; 8th German Conference on Robotics
06/02/2014 - 06/03/2014 at München, Germany
Proceedings: ISR/Robotik 2014
Pages: 6Language: englishTyp: PDF
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Authors:
Winkler, Alexander (Hochschule Mittweida, University of Applied Sciences, Germany)
Suchy, Jozef (Technische Universitaet Chemnitz, Germany)
Abstract:
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.