Adaptation of Force Control Parameters in Robotic Assembly
Stolt, Andreas LU ; Linderoth, Magnus LU ; Robertsson, Anders LU and Johansson, Rolf LU
(2012)
10th International IFAC Symposium on Robot Control
In IFAC Proceedings Volumes
45(22).
p.561-566
- Abstract
- Industrial robots are usually programmed to follow desired trajectories, and are very good at position-controlled tasks. New applications, however, often require physical contact between the robot and its environment, and then the position control accuracy is generally not sufficient. Force control is a suitable alternative. The environment is often stiff, and then it is crucial to design appropriate force controllers, which is non-trivial for a robot programmer. This paper presents an adaptive algorithm for choosing force control parameters, based on identification of a contact model. The algorithm is experimentally verified in an assembly task with an industrial robot.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/3127294
- author
- Stolt, Andreas
LU
; Linderoth, Magnus
LU
; Robertsson, Anders
LU
and Johansson, Rolf
LU
- organization
- publishing date
- 2012
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- 10th IFAC Symposium on Robot Control
- series title
- IFAC Proceedings Volumes
- volume
- 45
- issue
- 22
- pages
- 6 pages
- conference name
- 10th International IFAC Symposium on Robot Control
- conference location
- Dubrovnik, Croatia
- conference dates
- 2012-09-05
- external identifiers
-
- scopus:84881009793
- ISSN
- 1474-6670
- ISBN
- 978-3-902823-11-3
- DOI
- 10.3182/20120905-3-HR-2030.00033
- project
- RobotLab LTH
- ROSETTA
- language
- English
- LU publication?
- yes
- additional info
- key=SYROCO2012_stolt2
- id
- 04a43d6f-d5e4-4b75-b79a-ffecf52c4a20 (old id 3127294)
- date added to LUP
- 2016-04-01 14:07:59
- date last changed
- 2023-03-10 23:46:49
@inproceedings{04a43d6f-d5e4-4b75-b79a-ffecf52c4a20,
abstract = {{Industrial robots are usually programmed to follow desired trajectories, and are very good at position-controlled tasks. New applications, however, often require physical contact between the robot and its environment, and then the position control accuracy is generally not sufficient. Force control is a suitable alternative. The environment is often stiff, and then it is crucial to design appropriate force controllers, which is non-trivial for a robot programmer. This paper presents an adaptive algorithm for choosing force control parameters, based on identification of a contact model. The algorithm is experimentally verified in an assembly task with an industrial robot.<br/>}},
author = {{Stolt, Andreas and Linderoth, Magnus and Robertsson, Anders and Johansson, Rolf}},
booktitle = {{10th IFAC Symposium on Robot Control}},
isbn = {{978-3-902823-11-3}},
issn = {{1474-6670}},
language = {{eng}},
number = {{22}},
pages = {{561--566}},
series = {{IFAC Proceedings Volumes}},
title = {{Adaptation of Force Control Parameters in Robotic Assembly}},
url = {{https://lup.lub.lu.se/search/files/3806318/3127312.pdf}},
doi = {{10.3182/20120905-3-HR-2030.00033}},
volume = {{45}},
year = {{2012}},
}