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Revised Force Control Using a Compliant Sensor with a Position Controlled Robot

Lange, Friedrich and Jehle, Claudius and Suppa, Michael and Hirzinger, Gerd (2012) Revised Force Control Using a Compliant Sensor with a Position Controlled Robot. IEEE Int. Conf. on Robotics and Automation (ICRA), 14.-18.5.2012, St. Paul, MN, USA. ISBN CFP12RAA-USB

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Abstract

A different way of force control is presented, that is specially advantageous for position controlled robots. Instead of usual force control laws we rely on the well tuned position control loop and just use the force sensor to measure the target pose or to predict the desired trajectory. In combination with a compliant sensor we introduce an inherently stable framework of force control which almost inhibits all control errors. After an unexpected impact the force error is reduced independently from the sensor's bandwidth or delays in signal processing. Thus the (inevitable) impact force is more significant than the measured force control errors. The special case of a sensor that is mounted far away from a vertex-face contact is discussed, too.

Item URL in elib:https://elib.dlr.de/75262/
Document Type:Conference or Workshop Item (Speech)
Additional Information:Finalist for the Best Automation Paper Award
Title:Revised Force Control Using a Compliant Sensor with a Position Controlled Robot
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lange, Friedrichfriedrich.lange (at) dlr.deUNSPECIFIED
Jehle, ClaudiusDLR- RMUNSPECIFIED
Suppa, MichaelMichael.Suppa (at) dlr.deUNSPECIFIED
Hirzinger, GerdGerd.Hirzinger (at) dlr.deUNSPECIFIED
Date:14 May 2012
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 1532-1537
ISBN:CFP12RAA-USB
Status:Published
Keywords:force control, industrial robots
Event Title:IEEE Int. Conf. on Robotics and Automation (ICRA)
Event Location:St. Paul, MN, USA
Event Type:international Conference
Event Dates:14.-18.5.2012
Organizer:IEEE
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 - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Lange, Dr.-Ing. Friedrich
Deposited On:13 Dec 2012 15:39
Last Modified:31 Jul 2019 19:35

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