DocumentCode :
1959443
Title :
A direct-drive, robot parts and tooling gripper with high performance force feedback control
Author :
Lorenz, R.D. ; Zik, J.J. ; Sykora, D.J.
Author_Institution :
Wisconsin Univ., Madison, WI, USA
fYear :
1989
fDate :
1-5 Oct. 1989
Firstpage :
1678
Abstract :
The authors present the design of a direct-drive parts and tooling gripper for use in robotic assembly operations. The gripper design incorporates three-dimensional force vector sensing and both force and position control with extremely-low-friction, direct linear drives. The authors discuss a state-variable approach to force control and the design technique required for a manipulator to achieve high-performance force control. They demonstrate that stiffness of the contact between the environment and the manipulator must be known and of an optimum range to provide good force control. To verify the techniques, a servo-controlled manipulator with compliant vector force sensing was developed. The manipulator features direct-drive, linear motors and a compliant, vector force sensor. Force resolution was optimized by eliminating friction sources. A compliant vector force sensor provides the known contact stiffness between the manipulator and the workpiece environment. Experimental results show that force sensor stiffness is a key element in force loop control design and that robust force control dynamics is comparable to robust position control loop dynamics.<>
Keywords :
assembling; force control; industrial robots; position control; servomechanisms; contact stiffness; direct-drive parts; force control; linear motors; manipulator; position control; robotic assembly operations; three-dimensional force vector sensing; tooling gripper; Force control; Force sensors; Grippers; Manipulators; Position control; Robot sensing systems; Robotic assembly; Robust control; Servomotors; Vectors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industry Applications Society Annual Meeting, 1989., Conference Record of the 1989 IEEE
Conference_Location :
San Diego, CA, USA
Type :
conf
DOI :
10.1109/IAS.1989.96867
Filename :
96867
Link To Document :
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