Title :
Force control of an industrial PUMA 560 robot under environmental constraints: implementation issues and experimental results
Author :
Dégoulange, E. ; Dauchez, P. ; Pierrot, F.
Author_Institution :
LIRMM-UMR, Montpellier Univ., France
Abstract :
The problems of deformations occurring in a robot working in contact with the environment can be solved by taking into account forces exerted at the end-effector level. A solution to compensate for these deformations by using a force control scheme is given. The results, which are illustrated in the form of graphs, are obtained from experiments on a real robotic setup built around a PUMA 560 robot
Keywords :
computerised control; force control; industrial robots; end-effector; environmental constraints; external force control; force control scheme; implementation; industrial PUMA 560 robot; Drilling; Force control; Force sensors; Industrial control; Manipulators; Robot control; Robot kinematics; Robot sensing systems; Robotic assembly; Service robots;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.291985
