An overview is given of interaction control schemes tested in a number of experiments for representative interaction tasks. A commercially available industrial robot is used to demonstrate the credibility of force control in the perspective of the next generation of robot control units with enhanced sensory feedback capabilities. The problem of interfacing the force/torque sensor is solved as a result of the open architecture of the control unit. The feature is crucial for the implementation of control schemes requiring model-based compensation actions.

Integration for the next generation: Embedding force control into industrial robots

SICILIANO, BRUNO;VILLANI, LUIGI
2005

Abstract

An overview is given of interaction control schemes tested in a number of experiments for representative interaction tasks. A commercially available industrial robot is used to demonstrate the credibility of force control in the perspective of the next generation of robot control units with enhanced sensory feedback capabilities. The problem of interfacing the force/torque sensor is solved as a result of the open architecture of the control unit. The feature is crucial for the implementation of control schemes requiring model-based compensation actions.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11588/11264
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