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Control with a Compliant Force-Torque Sensor

Lange, Friedrich and Suppa, Michael and Hirzinger, Gerd (2012) Control with a Compliant Force-Torque Sensor. 7th German Conf. on Robotics ROBOTIK 2012, 21.-22.5.2012, Munich, Germany.

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Abstract

There are assembly tasks which require a compliant device at the end-effector since possible disturbances are beyond the bandwidth of robot control. This paper discusses a compliant force-torque sensor for assembly. Two aspects are explained in detail: Force control considering a significant force dependent displacement, and control of an end-effector with an elastic mounting during fast unconstrained motion. The latter uses an adaptive scheme which serves as a further level in a hierarchical position-based control. Experimental results are given which show the limits of industrial robots.

Item URL in elib:https://elib.dlr.de/75263/
Document Type:Conference or Workshop Item (Speech)
Title:Control with a Compliant Force-Torque Sensor
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lange, FriedrichRMUNSPECIFIED
Suppa, MichaelRMUNSPECIFIED
Hirzinger, GerdRMUNSPECIFIED
Date:21 May 2012
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 490-495
Status:Published
Keywords:Industrial robots, compliant force sensor
Event Title:7th German Conf. on Robotics ROBOTIK 2012
Event Location:Munich, Germany
Event Type:national Conference
Event Dates:21.-22.5.2012
Organizer:DGR – Deutsche Gesellschaft für Robotik
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 15:40
Last Modified:31 Jul 2019 19:35

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