Force control of an industrial PUMA 560 robot under environmental constraints: implementation issues and experimental results

The problems of deformations occurring in a robot working in contact with the environment can be solved by taking into account forces exerted at the end-effector level. A solution to compensate for these deformations by using a force control scheme is given. The results, which are illustrated in the...

Full description

Saved in:
Bibliographic Details
Main Authors: Degoulange, E., Dauchez, P., Pierrot, F.
Format: Conference Proceeding
Language:English
Subjects:
Drilling
Force control
Force sensors
Industrial control
Manipulators
Robot control
Robot kinematics
Robot sensing systems
Robotic assembly
Service robots
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:The problems of deformations occurring in a robot working in contact with the environment can be solved by taking into account forces exerted at the end-effector level. A solution to compensate for these deformations by using a force control scheme is given. The results, which are illustrated in the form of graphs, are obtained from experiments on a real robotic setup built around a PUMA 560 robot.< >
DOI:10.1109/ROBOT.1993.291985