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.
Item URL in elib: | https://elib.dlr.de/67030/ | ||||||||||||
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Document Type: | Conference or Workshop Item (Paper) | ||||||||||||
Title: | Control of Large Forces and Torques Using an Asymmetrically Arranged Compliant Sensor | ||||||||||||
Authors: |
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Date: | June 2010 | ||||||||||||
Open Access: | Yes | ||||||||||||
Gold Open Access: | No | ||||||||||||
In SCOPUS: | No | ||||||||||||
In ISI Web of Science: | No | ||||||||||||
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 (until 2012) > Robotic Systems | ||||||||||||
Deposited By: | Lange, Dr.-Ing. Friedrich | ||||||||||||
Deposited On: | 06 Dec 2010 11:10 | ||||||||||||
Last Modified: | 31 Jul 2019 19:29 |
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