Force-Torque Control Methodology for Industrial Robots Applied on Finishing Operations
The paper deals with the force-torque control methodology for industrial robots that can be more or less applied on a variety of industrial applications such as grinding, drilling, automatic assembly or other applications where the key aspect is to control the physical contact between a tool and a workpiece mounted on the robot gripper or vice versa. In other words, contact forces and respective moments need to be controlled in real-time. The experimental set-up is based mainly on a KUKA robot (KR3, KR 16), FTC sensor (SCHUNK FTC-050), external PLC system (Embedded PC Beckhoff) for main control structures and other devices. Main practical results are concerned with determining the contact between a workpiece, grasped in the robot gripper, and the surface while maintaining a constant force during robot motion.
KeywordsContact Force Industrial Robot Robot Controller Pneumatic Cylinder Finish Operation
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