DocumentCode :
592789
Title :
Simulation of force control algorithms for serial robots
Author :
Udai, Arun Dayal ; Saha, Samar K.
Author_Institution :
Dept. of Mech. Eng., IIT Delhi, New Delhi, India
fYear :
2012
fDate :
16-18 Dec. 2012
Firstpage :
481
Lastpage :
486
Abstract :
The advantages of using force control in industrial or other type of robotic systems are well known. Study of such systems in virtual environment in the form of simulation is of great help for the design of a controller or a robot. In this paper, we show how to simulate different force control algorithms of a typical serial robot used in the industries before deciding to choose a suitable one for real implementation. This was done using an add-on to MATLAB® Simulink® known as “SimMechanics®”. Note that Simulink is an established framework for the analysis and simulation of control algorithms. Hence, our intention was to demonstrate the integration of the dynamic model of a serial robot using SimMechanics toolbox with MATLAB Simulink toolbox, e.g., Control and others.
Keywords :
force control; robots; MATLAB Simulink toolbox; SimMechanics toolbox; force control algorithms; robotic systems; serial robots; virtual environment; Force; Force control; Joints; Mathematical model; Robots; Software packages; Vectors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
System Integration (SII), 2012 IEEE/SICE International Symposium on
Conference_Location :
Fukuoka
Print_ISBN :
978-1-4673-1496-1
Type :
conf
DOI :
10.1109/SII.2012.6427347
Filename :
6427347
Link To Document :
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