Controlling a Robot with Two Force Sensors in a Lead-Through Programming Scenario
(2008) In MSc ThesesDepartment of Automatic Control
- Abstract
- To simplify the programming of industrial robots a method called lead-through programming has been developed where the programmer basically leads the robot using his/her hands. The objective of this thesis has been to see how a safety system (protecting the tool from large forces) for a lead-through programming controller could be achieved by using an extra force sensor mounted at the tool. A modified controller is presented with a description of its implementation, simulations results and test results from running on a real robot.
Please use this url to cite or link to this publication:
http://lup.lub.lu.se/student-papers/record/8847629
- author
- Gustafsson, Erik
- supervisor
- organization
- year
- 2008
- type
- H3 - Professional qualifications (4 Years - )
- subject
- publication/series
- MSc Theses
- report number
- TFRT-5818
- ISSN
- 0280-5316
- language
- English
- id
- 8847629
- date added to LUP
- 2016-03-17 10:27:41
- date last changed
- 2016-03-17 10:27:41
@misc{8847629, abstract = {{To simplify the programming of industrial robots a method called lead-through programming has been developed where the programmer basically leads the robot using his/her hands. The objective of this thesis has been to see how a safety system (protecting the tool from large forces) for a lead-through programming controller could be achieved by using an extra force sensor mounted at the tool. A modified controller is presented with a description of its implementation, simulations results and test results from running on a real robot.}}, author = {{Gustafsson, Erik}}, issn = {{0280-5316}}, language = {{eng}}, note = {{Student Paper}}, series = {{MSc Theses}}, title = {{Controlling a Robot with Two Force Sensors in a Lead-Through Programming Scenario}}, year = {{2008}}, }