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Force Controlled Robotic Assembly without a Force Sensor

Stolt, Andreas LU ; Linderoth, Magnus LU ; Robertsson, Anders LU and Johansson, Rolf LU (2012) IEEE International Conference on Robotics and Automation, 2012 In IEEE International Conference on Robotics and Automation (ICRA), 2012 p.1538-1543
Abstract
The traditional way of controlling an industrial robot is to program it to follow desired trajectories. This approach is sufficient as long as the accuracy of the robot and the calibration of the workcell is good enough. In robotic assembly these conditions are usually not fulfilled, because of uncertainties, e.g., variability in involved parts and objects not gripped accurately. Using force control is one way to handle these difficulties. This paper presents a method of doing force control without a force sensor. The method is based on detuning of the low-level joint control loops, and the force is estimated from the control error. It is experimentally verified in a small part assembly task with a kinematically redundant robotic... (More)
The traditional way of controlling an industrial robot is to program it to follow desired trajectories. This approach is sufficient as long as the accuracy of the robot and the calibration of the workcell is good enough. In robotic assembly these conditions are usually not fulfilled, because of uncertainties, e.g., variability in involved parts and objects not gripped accurately. Using force control is one way to handle these difficulties. This paper presents a method of doing force control without a force sensor. The method is based on detuning of the low-level joint control loops, and the force is estimated from the control error. It is experimentally verified in a small part assembly task with a kinematically redundant robotic manipulator. (Less)
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Force control, robotic assembly
in
IEEE International Conference on Robotics and Automation (ICRA), 2012
pages
1538 - 1543
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
IEEE International Conference on Robotics and Automation, 2012
external identifiers
  • wos:000309406701084
  • scopus:84864481897
ISSN
2152-4092
1050-4729
ISBN
978-1-4673-1403-9
DOI
10.1109/ICRA.2012.6224837
project
ROSETTA
language
English
LU publication?
yes
id
fe2dad2e-9752-4390-9bfd-d04f52946e6c (old id 2860253)
date added to LUP
2012-08-24 11:20:50
date last changed
2017-11-05 03:12:02
@inproceedings{fe2dad2e-9752-4390-9bfd-d04f52946e6c,
  abstract     = {The traditional way of controlling an industrial robot is to program it to follow desired trajectories. This approach is sufficient as long as the accuracy of the robot and the calibration of the workcell is good enough. In robotic assembly these conditions are usually not fulfilled, because of uncertainties, e.g., variability in involved parts and objects not gripped accurately. Using force control is one way to handle these difficulties. This paper presents a method of doing force control without a force sensor. The method is based on detuning of the low-level joint control loops, and the force is estimated from the control error. It is experimentally verified in a small part assembly task with a kinematically redundant robotic manipulator.},
  author       = {Stolt, Andreas and Linderoth, Magnus and Robertsson, Anders and Johansson, Rolf},
  booktitle    = {IEEE International Conference on Robotics and Automation (ICRA), 2012},
  isbn         = {978-1-4673-1403-9},
  issn         = {2152-4092},
  keyword      = {Force control,robotic assembly},
  language     = {eng},
  pages        = {1538--1543},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  title        = {Force Controlled Robotic Assembly without a Force Sensor},
  url          = {http://dx.doi.org/10.1109/ICRA.2012.6224837},
  year         = {2012},
}