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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 10th IFAC Symposium on Robot Control p.561-566
Abstract (Swedish)
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:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
10th IFAC Symposium on Robot Control
pages
561 - 566
publisher
IFAC
conference name
10th International IFAC Symposium on Robot Control
external identifiers
  • scopus:84881009793
ISSN
1474-6670
ISBN
978-3-902823-11-3
DOI
10.3182/20120905-3-HR-2030.00033
project
ROSETTA
language
English
LU publication?
yes
id
04a43d6f-d5e4-4b75-b79a-ffecf52c4a20 (old id 3127294)
date added to LUP
2012-10-10 09:13:21
date last changed
2017-11-12 03:43:12
@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.},
  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},
  pages        = {561--566},
  publisher    = {IFAC},
  title        = {Adaptation of Force Control Parameters in Robotic Assembly},
  url          = {http://dx.doi.org/10.3182/20120905-3-HR-2030.00033},
  year         = {2012},
}