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Control of Large Forces and Torques Using an Asymmetrically Arranged Compliant Sensor

Lange, Friedrich and Willberg, Bertram and Hirzinger, Gerd (2010) Control of Large Forces and Torques Using an Asymmetrically Arranged Compliant Sensor. Joint 41th Int. Symp. on Robotics and 6th German Conf. on Robotics ISR/ROBOTIK 2010, Munich, Germany.

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Abstract

Control of forces and torques seems to be solved. But there is a lack of a suitable method for easy use. In addition, there are differences between the control with a compliant sensor and with a stiff sensor. So the usual theory cannot be applied to a compliant sensor, even more if the sensor is distant from the contact point and not centered with respect to the vector of the desired force. The second aspect of compliant force control is the nonexistence of a compliant large scale sensor. Therefore a method to scale existing sensors and an example of its use is presented.

Document Type:Conference or Workshop Item (Paper)
Title:Control of Large Forces and Torques Using an Asymmetrically Arranged Compliant Sensor
Authors:
AuthorsInstitution or Email of Authors
Lange, Friedrichfriedrich.lange@dlr.de
Willberg, Bertrambertram.willberg@dlr.de
Hirzinger, Gerdgerd.hirzinger@dlr.de
Date:June 2010
Status:Published
Keywords:Robotics; Force control; Industrial robots
Event Title:Joint 41th Int. Symp. on Robotics and 6th German Conf. on Robotics ISR/ROBOTIK 2010
Event Location:Munich, Germany
Event Type:international Conference
Organizer:VDI
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Leistungszentrum Robotik - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Dr.-Ing. Friedrich Lange
Deposited On:06 Dec 2010 11:10
Last Modified:12 Dec 2013 21:07

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