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 / F., Caccavale; C., Natale; Siciliano, Bruno; Villani, Luigi. - In: IEEE ROBOTICS AND AUTOMATION MAGAZINE. - ISSN 1070-9932. - STAMPA. - 12:(2005), pp. 53-64. [10.1109/MRA.2005.1511869]
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.| File | Dimensione | Formato | |
|---|---|---|---|
|
ram05.pdf
non disponibili
Tipologia:
Documento in Post-print
Licenza:
Accesso privato/ristretto
Dimensione
510.45 kB
Formato
Adobe PDF
|
510.45 kB | Adobe PDF | Visualizza/Apri Richiedi una copia |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
