DocumentCode
1844319
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
Volume
1
fYear
1996
fDate
22-28 Apr 1996
Firstpage
629
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location
Minneapolis, MN
ISSN
1050-4729
Print_ISBN
0-7803-2988-0
Type
conf
DOI
10.1109/ROBOT.1996.503845
Filename
503845
Link To Document