Implementation of Industrial Robot Force Control Case Study: High Power Stub Grinding and Deburring
(2006) 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems 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)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/617055
- author
- 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
- organization
- publishing date
- 2006
- 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
- host publication
- 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
- conference location
- Beijing, China
- conference dates
- 2006-10-09 - 2006-10-15
- external identifiers
-
- wos:000245452402140
- scopus:34250615428
- ISBN
- 1-4244-0258-1
- DOI
- 10.1109/IROS.2006.282000
- project
- FlexAA
- SMErobot
- RobotLab LTH
- AUTOFETT
- language
- English
- LU publication?
- yes
- id
- 8a5aa294-7e8d-443e-b80a-f93f8494f013 (old id 617055)
- date added to LUP
- 2016-04-04 10:25:12
- date last changed
- 2023-09-20 03:03:43
@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}}, keywords = {{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}}, doi = {{10.1109/IROS.2006.282000}}, year = {{2006}}, }