Force Controlled Robotic Assembly without a Force Sensor
(2012) IEEE International Conference on Robotics and Automation, 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:
https://lup.lub.lu.se/record/2860253
- author
- Stolt, Andreas LU ; Linderoth, Magnus LU ; Robertsson, Anders LU and Johansson, Rolf LU
- organization
- publishing date
- 2012
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- Force control, robotic assembly
- host publication
- 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
- conference location
- St Paul, MN, United States
- conference dates
- 2012-05-14 - 2012-05-18
- 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
- additional info
- key=icra12a project=Rosetta month=May
- id
- fe2dad2e-9752-4390-9bfd-d04f52946e6c (old id 2860253)
- date added to LUP
- 2016-04-01 10:26:21
- date last changed
- 2024-08-25 23:58:51
@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}}, keywords = {{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 = {{https://lup.lub.lu.se/search/files/1845867/3127275.pdf}}, doi = {{10.1109/ICRA.2012.6224837}}, year = {{2012}}, }