Title :
A new position based force/impedance control for industrial robots
Author :
Surdilovic, D. ; Kirchhof, J.
Author_Institution :
Fraunhofer-Inst. for Production Syst. & Design Technol., Berlin, Germany
Abstract :
This paper presents a new position-based force/impedance control scheme which provides a feasible and reliable solution for performing contact tasks in industrial robotic systems. The control scheme consists of an outer implicit force control loop closed around an internal position-based impedance control loop. The enclosed experiment demonstrates performance of the proposed compliant control concepts in performing a relatively simple contact task with a conventional industrial robot
Keywords :
force control; industrial robots; force control loop; industrial robots; internal position-based impedance control loop; position-based force/impedance control; Control systems; Electrical equipment industry; Force control; Impedance; Industrial control; Motion control; Open loop systems; Position control; Robot control; Service robots;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.503845
