DocumentCode
1864137
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
fYear
1993
fDate
2-6 May 1993
Firstpage
213
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location
Atlanta, GA
Print_ISBN
0-8186-3450-2
Type
conf
DOI
10.1109/ROBOT.1993.291985
Filename
291985
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