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Lange, Friedrich und Jehle, Claudius und Suppa, Michael und Hirzinger, Gerd (2012) Revised Force Control Using a Compliant Sensor with a Position Controlled Robot. In: 2012 IEEE International Conference on Robotics and Automation (ICRA), Seiten 1532-1537. IEEE Int. Conf. on Robotics and Automation (ICRA), 2012-05-14 - 2012-05-18, St. Paul, MN, USA. doi: 10.1109/icra.2012.6224630. ISBN CFP12RAA-USB.
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Kurzfassung
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.
| elib-URL des Eintrags: | https://elib.dlr.de/99512/ | ||||||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
| Zusätzliche Informationen: | Finalist for the Best Automation Paper Award | ||||||||||||||||||||
| Titel: | Revised Force Control Using a Compliant Sensor with a Position Controlled Robot | ||||||||||||||||||||
| Autoren: |
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| Datum: | 14 Mai 2012 | ||||||||||||||||||||
| Erschienen in: | 2012 IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||||||
| Open Access: | Ja | ||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||
| In SCOPUS: | Nein | ||||||||||||||||||||
| In ISI Web of Science: | Ja | ||||||||||||||||||||
| DOI: | 10.1109/icra.2012.6224630 | ||||||||||||||||||||
| Seitenbereich: | Seiten 1532-1537 | ||||||||||||||||||||
| ISBN: | CFP12RAA-USB | ||||||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||||||
| Stichwörter: | force control, industrial robots | ||||||||||||||||||||
| Veranstaltungstitel: | IEEE Int. Conf. on Robotics and Automation (ICRA) | ||||||||||||||||||||
| Veranstaltungsort: | St. Paul, MN, USA | ||||||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
| Veranstaltungsbeginn: | 14 Mai 2012 | ||||||||||||||||||||
| Veranstaltungsende: | 18 Mai 2012 | ||||||||||||||||||||
| Veranstalter : | IEEE | ||||||||||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||||||||||
| HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
| DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - Vorhaben Multisensorielle Weltmodellierung (alt) | ||||||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (bis 2012) | ||||||||||||||||||||
| Hinterlegt von: | Lange, Dr.-Ing. Friedrich | ||||||||||||||||||||
| Hinterlegt am: | 12 Jan 2016 14:35 | ||||||||||||||||||||
| Letzte Änderung: | 24 Apr 2024 20:04 |
Verfügbare Versionen dieses Eintrags
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Revised Force Control Using a Compliant Sensor with a Position Controlled Robot. (deposited 13 Dez 2012 15:39)
- Revised Force Control Using a Compliant Sensor with a Position Controlled Robot. (deposited 12 Jan 2016 14:35) [Gegenwärtig angezeigt]
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