Lange, Friedrich und Willberg, Bertram und 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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Kurzfassung
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.
elib-URL des Eintrags: | https://elib.dlr.de/67030/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Paper) | ||||||||||||||||
Titel: | Control of Large Forces and Torques Using an Asymmetrically Arranged Compliant Sensor | ||||||||||||||||
Autoren: |
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Datum: | Juni 2010 | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Robotics; Force control; Industrial robots | ||||||||||||||||
Veranstaltungstitel: | Joint 41th Int. Symp. on Robotics and 6th German Conf. on Robotics ISR/ROBOTIK 2010 | ||||||||||||||||
Veranstaltungsort: | Munich, Germany | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstalter : | VDI | ||||||||||||||||
HGF - Forschungsbereich: | Verkehr und Weltraum (alt) | ||||||||||||||||
HGF - Programm: | Weltraum (alt) | ||||||||||||||||
HGF - Programmthema: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Schwerpunkt: | Weltraum | ||||||||||||||||
DLR - Forschungsgebiet: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | W - Leistungszentrum Robotik - Mechatronik und Telerobotik (alt) | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (bis 2012) > Robotersysteme | ||||||||||||||||
Hinterlegt von: | Lange, Dr.-Ing. Friedrich | ||||||||||||||||
Hinterlegt am: | 06 Dez 2010 11:10 | ||||||||||||||||
Letzte Änderung: | 31 Jul 2019 19:29 |
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