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  • The paper deals with the force-torque control for industrial robots for various types of applications such as grinding, drilling, automatic assembly or other applications where contact forces and respective moments need to be controlled in real-time. The experimental set-up is based mainly on a KUKA robot (KR3 or KR15/2) and a FTC sensor (by SCHUNK). Main practical results are concerned with automatic grinding of specific parts provided by industrial partners. Another prospective area covered in this paper is also the interaction between the robot and an operator known as Human Robot Interaction or Cooperation drawing on the FTC paradigm. Pilot results were presented using the cascade control architecture where a desired contact force with object surfaces can be controlled allowing the robot to follow object profiles (for grinding applications) or for the programming-by-demonstration concept.
  • The paper deals with the force-torque control for industrial robots for various types of applications such as grinding, drilling, automatic assembly or other applications where contact forces and respective moments need to be controlled in real-time. The experimental set-up is based mainly on a KUKA robot (KR3 or KR15/2) and a FTC sensor (by SCHUNK). Main practical results are concerned with automatic grinding of specific parts provided by industrial partners. Another prospective area covered in this paper is also the interaction between the robot and an operator known as Human Robot Interaction or Cooperation drawing on the FTC paradigm. Pilot results were presented using the cascade control architecture where a desired contact force with object surfaces can be controlled allowing the robot to follow object profiles (for grinding applications) or for the programming-by-demonstration concept. (en)
Title
  • Force-torque control of industrial robot for industrial applications
  • Force-torque control of industrial robot for industrial applications (en)
skos:prefLabel
  • Force-torque control of industrial robot for industrial applications
  • Force-torque control of industrial robot for industrial applications (en)
skos:notation
  • RIV/00216305:26210/10:PU87742!RIV11-MPO-26210___
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • P(FR-TI1/169)
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
http://linked.open.../riv/druhVysledku
http://linked.open...iv/duvernostUdaju
http://linked.open...titaPredkladatele
http://linked.open...dnocenehoVysledku
  • 259506
http://linked.open...ai/riv/idVysledku
  • RIV/00216305:26210/10:PU87742
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • robot, force-torque control, human-robot interaction (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...ontrolniKodProRIV
  • [F3425983C61D]
http://linked.open...v/mistoKonaniAkce
  • Svratka
http://linked.open...i/riv/mistoVydani
  • Prague, Czech Republic
http://linked.open...i/riv/nazevZdroje
  • Engineering Mechanics 2010 - Book of Extended Abstracts
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
http://linked.open...cetTvurcuVysledku
http://linked.open...vavai/riv/projekt
http://linked.open...UplatneniVysledku
http://linked.open...iv/tvurceVysledku
  • Singule, Vladislav
  • Kubela, Tomáš
  • Pochylý, Aleš
http://linked.open...vavai/riv/typAkce
http://linked.open.../riv/zahajeniAkce
number of pages
http://purl.org/ne...btex#hasPublisher
  • Ústav termomechaniky AV ČR
https://schema.org/isbn
  • 978-80-87012-26-0
http://localhost/t...ganizacniJednotka
  • 26210
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