Experimental evaluation of parameters for robotic contouring force feedback applications

Švaco, Marko and Vitez, Nikola and Jerbić, Bojan and Šuligoj, Filip and Šekoranja, Bojan and Vidaković, Josip (2017) Experimental evaluation of parameters for robotic contouring force feedback applications. = Experimental evaluation of parameters for robotic contouring force feedback applications. In: International Conference Management of Technology – Step to Sustainable Production (MOTSP 2017), 05.-07.04.2017., Dubrovnik, Hrvatska.

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Official URL: https://www.bib.irb.hr/899454

Abstract

This paper describes a laboratory robotic application with continuous force feedback. The research focuses on determining control parameters for robot contouring movements when the robot task is to exert a predefined force upon a work object such as in grinding, sanding or polishing applications. The experimental setup consists of a FANUC LRMate 6 degree of freedom industrial robot with an integrated force-torque sensor. Three contouring experiments are conducted. Used test cases are: i) rigid flat plate, ii) wave shaped compliant plate, and iii) compliant flat plate. For each of the test cases, the paper provides experimentally determined control parameters, which minimize errors in forces exerted by the robot.

Item Type: Conference or Workshop Item (Poster)
Keywords (Croatian): robotics; force-torque sensor; force sensing; contouring
Subjects: TECHNICAL SCIENCE > Computing
Divisions: 900 Department of Robotics and Production System Automation > 920 Chair of Manufacturing and Assembly System Planning
Indexed in Web of Science: No
Indexed in Current Contents: No
Date Deposited: 24 Sep 2018 07:54
Last Modified: 26 Oct 2018 10:48
URI: http://repozitorij.fsb.hr/id/eprint/8809

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