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Implementation of industrial robot force control case study: high power stub grinding and deburring

Robertsson, Anders LU ; Olsson, Tomas LU ; Johansson, Rolf LU ; Blomdell, Anders LU ; Nilsson, Klas LU ; Haage, Mathias LU ; Lauwers, B; de Baerdemaeker, H; Brogårdh, Torgny and Brantmark, Håkan (2006) 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE Cat. No. 06CH37780D) p.2743-2748
Abstract
In this paper, the results from a joint industry-academia project in industrial robotic force control are presented. The extension and implementation of an external sensor system for an industrial robot system, which can be used for high-bandwidth force control, are described. Results from two industrial applications using the system are presented, a stub grinding application using a new compliant grinding end-effector integrated with the robot control system, and a deburring application with a stiff tool requiring high-bandwidth force control in six degrees of freedom. Using the system an easily reconfigurable control structure was achieved, which was able to control contact forces with a sampling bandwidth of an order of magnitude higher... (More)
In this paper, the results from a joint industry-academia project in industrial robotic force control are presented. The extension and implementation of an external sensor system for an industrial robot system, which can be used for high-bandwidth force control, are described. Results from two industrial applications using the system are presented, a stub grinding application using a new compliant grinding end-effector integrated with the robot control system, and a deburring application with a stiff tool requiring high-bandwidth force control in six degrees of freedom. Using the system an easily reconfigurable control structure was achieved, which was able to control contact forces with a sampling bandwidth of an order of magnitude higher than for conventional robot controllers (Less)
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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
grinding end-effector, stub deburring, industrial robot force control, high power stub grinding, reconfigurable control structure, motion control
in
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE Cat. No. 06CH37780D)
pages
2743 - 2748
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
external identifiers
  • wos:000245452402140
  • scopus:34250615428
ISBN
1-4244-0258-1
DOI
10.1109/IROS.2006.282000
project
AUTOFETT
language
English
LU publication?
yes
id
8a5aa294-7e8d-443e-b80a-f93f8494f013 (old id 617055)
date added to LUP
2007-11-24 12:31:38
date last changed
2017-08-06 04:55:07
@inproceedings{8a5aa294-7e8d-443e-b80a-f93f8494f013,
  abstract     = {In this paper, the results from a joint industry-academia project in industrial robotic force control are presented. The extension and implementation of an external sensor system for an industrial robot system, which can be used for high-bandwidth force control, are described. Results from two industrial applications using the system are presented, a stub grinding application using a new compliant grinding end-effector integrated with the robot control system, and a deburring application with a stiff tool requiring high-bandwidth force control in six degrees of freedom. Using the system an easily reconfigurable control structure was achieved, which was able to control contact forces with a sampling bandwidth of an order of magnitude higher than for conventional robot controllers},
  author       = {Robertsson, Anders and Olsson, Tomas and Johansson, Rolf and Blomdell, Anders and Nilsson, Klas and Haage, Mathias and Lauwers, B and de Baerdemaeker, H and Brogårdh, Torgny and Brantmark, Håkan},
  booktitle    = {2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE Cat. No. 06CH37780D)},
  isbn         = {1-4244-0258-1},
  keyword      = {grinding end-effector,stub deburring,industrial robot force control,high power stub grinding,reconfigurable control structure,motion control},
  language     = {eng},
  pages        = {2743--2748},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  title        = {Implementation of industrial robot force control case study: high power stub grinding and deburring},
  url          = {http://dx.doi.org/10.1109/IROS.2006.282000},
  year         = {2006},
}