Adaptive implicit hybrid force/pose control of industrial manipulators: compliant motion experiments

Kröger, Torsten; Finkemeyer, Bernd; Heuck, M.; Wahl, Friedrich M.

doi:10.1109/iros.2004.1389453

Cited by 23 publications

(17 citation statements)

References 13 publications

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“…Adaptive force control with comparable results has been performed, e.g., in (Roy and Whitcomb, 2002) and (Kröger et al, 2004). They both show similar results for corresponding contact stiffnesses, but this paper also considers significantly stiffer contact environments.…”

Section: Discussionmentioning

confidence: 55%

“…A stiffness of over 100 [N/mm] was estimated in Fig. 6, compared to a stiffness around 20 [N/mm] in (Kröger et al, 2004) and below 1 [N/mm] in (Roy and Whitcomb, 2002).…”

Section: Discussionmentioning

confidence: 99%

“…In (Roy and Whitcomb, 2002), an adaptive force controller is presented, it is based on an estimate of the contact stiffness. A similar approach is presented in (Kröger et al, 2004), which considers adaptive force controllers within the Task Frame Formalism. In (Mallapragada et al, 2006) estimates of contact stiffness and damping are used together with an artificial neural network based gain scheduler for a PI force controller.…”

Section: Introductionmentioning

confidence: 99%

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Adaptation of Force Control Parameters in Robotic Assembly

Stolt

Linderoth

Robertsson

et al. 2012

IFAC Proceedings Volumes

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Industrial robots are usually programmed to follow desired trajectories, and are very good at position-controlled tasks. New applications, however, often require physical contact between the robot and its environment, and then the position control accuracy is generally not sufficient. Force control is a suitable alternative. The environment is often stiff, and then it is crucial to design appropriate force controllers, which is non-trivial for a robot programmer. This paper presents an adaptive algorithm for choosing force control parameters, based on identification of a contact model. The algorithm is experimentally verified in an assembly task with an industrial robot.

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Section: Discussionmentioning

confidence: 55%

“…A stiffness of over 100 [N/mm] was estimated in Fig. 6, compared to a stiffness around 20 [N/mm] in (Kröger et al, 2004) and below 1 [N/mm] in (Roy and Whitcomb, 2002).…”

Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Adaptation of Force Control Parameters in Robotic Assembly

Stolt

Linderoth

Robertsson

et al. 2012

IFAC Proceedings Volumes

View full text Add to dashboard Cite

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“…In Kroeger et al (2004) the settling time for a serial industrial manipulator lies between 0.6 and 1.7 s. In another scenario shown in Lange et al (2013) a settling time of 0.8 s for an industrial robot was achieved.…”

Section: Contact Establishmentmentioning

confidence: 96%

Hybrid Position-Force Control of a Cable-Driven Parallel Robot with Experimental Evaluation

et al. 2015

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Abstract. For cable-driven parallel robots elastic cables are used to manipulate a mobile platform in the workspace. In this paper, we present a hybrid position-force control, which allows for applying defined forces on the environment and simultaneous movement along the surface. We propose a synchronous control of the cable forces to ensure the stability of the platform during movement. The performance of the controller is experimentally investigated regarding contact establishment and dynamic behavior during a motion on the cable robot IPAnema 3.

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“…A number of flexible joint rigid link robot models have been then proposed, aiming at parameter identification and force control [6], [7], [8], especially on the basis of the Conservative Congruence Transformation [9]. On the other hand, recent studies on force control were focused on adaptive or alternative control algorithms that can face the uncertainties on environment elasticity [10], [11].…”

Section: Introductionmentioning

confidence: 99%

Implicit force control for an industrial robot with flexible joints and flexible links

Rossi

Bascetta

Rocco

2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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The main purpose of this paper is to present an implicit force control scheme for 6 DoF industrial robots, whose compliance model takes into account both joint and link elasticities. The system composed by the robot and the environment is modeled by means of a simple equivalent elasticity at the end effector. A method to avoid limit cycles due to friction during force control applications is then proposed. The compliance model and the force control are experimentally validated on a industrial robot equipped with a force sensor

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Adaptive implicit hybrid force/pose control of industrial manipulators: compliant motion experiments

Cited by 23 publications

References 13 publications

Adaptation of Force Control Parameters in Robotic Assembly

Adaptation of Force Control Parameters in Robotic Assembly

Hybrid Position-Force Control of a Cable-Driven Parallel Robot with Experimental Evaluation

Implicit force control for an industrial robot with flexible joints and flexible links

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