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Controlling a Robot with Two Force Sensors in a Lead-Through Programming Scenario

Gustafsson, Erik (2008) In MSc Theses
Department of Automatic Control
Abstract
To simplify the programming of industrial robots a method called lead-through programming has been developed where the programmer basically leads the robot using his/her hands. The objective of this thesis has been to see how a safety system (protecting the tool from large forces) for a lead-through programming controller could be achieved by using an extra force sensor mounted at the tool. A modified controller is presented with a description of its implementation, simulations results and test results from running on a real robot.
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author
Gustafsson, Erik
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
publication/series
MSc Theses
report number
TFRT-5818
ISSN
0280-5316
language
English
id
8847629
date added to LUP
2016-03-17 10:27:41
date last changed
2016-03-17 10:27:41
@misc{8847629,
  abstract     = {To simplify the programming of industrial robots a method called lead-through programming has been developed where the programmer basically leads the robot using his/her hands. The objective of this thesis has been to see how a safety system (protecting the tool from large forces) for a lead-through programming controller could be achieved by using an extra force sensor mounted at the tool. A modified controller is presented with a description of its implementation, simulations results and test results from running on a real robot.},
  author       = {Gustafsson, Erik},
  issn         = {0280-5316},
  language     = {eng},
  note         = {Student Paper},
  series       = {MSc Theses},
  title        = {Controlling a Robot with Two Force Sensors in a Lead-Through Programming Scenario},
  year         = {2008},
}