DocumentCode
2051916
Title
Hybrid force/position control for two cooperative Staubli RX60 industrial robots
Author
Bekalarek, Jacek ; Zawal, Radzimir ; Kozlowski, Krzysztof
Author_Institution
Inst. of Control & Syst. Eng., Poznan Univ. of Technol., Poland
fYear
2001
fDate
2001
Firstpage
305
Lastpage
310
Abstract
The hybrid force/position control for two cooperative Staubli RX60 industrial robots is considered. In this article a proposition of the impedance controller is outlined. The proposal described leads to an advanced research of the hybrid force/position control for cooperative industrial robots
Keywords
cooperative systems; factory automation; force control; industrial robots; position control; Staubli RX60; cooperative robots; force control; hybrid control; impedance control; industrial robots; position control; Control systems; Electrical equipment industry; Force control; Force feedback; Impedance; Industrial control; Manipulator dynamics; Position control; Service robots; Three-term control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot Motion and Control, 2001 Proceedings of the Second International Workshop on
Conference_Location
Bukowy Dworek
Print_ISBN
83-7143-515-0
Type
conf
DOI
10.1109/ROMOCO.2001.973471
Filename
973471
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