A Novel Approach to the Robotic Automation of Industrial Contact Processes: Comparison with Classical Force Control Methods
Sprache des Vortragstitels:
Englisch
Original Tagungtitel:
The 13th Mechatronics Forum International Conference
Sprache des Tagungstitel:
Englisch
Original Kurzfassung:
In this work we present a pneumatic attachment for
industrial robots that is meant to enable the efficient automation
of contact processes. The element is controlled, allowing variation
of the applied contact force. The actuation takes place close to the
location of the applied process force. This decoupling potentially
results in a higher control quality compared to the case where
the distributed joints of a robot arm are used for actuation. At
the same time the passive compliance of the pneumatic actuation
provides a degree of robustness that reduces the time required
to establish contact with a stiff work piece ? i.e. it speeds
up the transition between free and contact motion. Differences
and similarities with respect to classical robotic force control
methods are discussed and extensive experimental comparisons
are presented.
Forschungs-