Control of Large Forces and Torques - Using an Asymmetrically Arranged Compliant Sensor | VDE Conference Publication | IEEE Xplore

Control of Large Forces and Torques - Using an Asymmetrically Arranged Compliant Sensor

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Abstract:

Control of forces and torques seemed to be solved. But the usual method for position controlled robots is not optimal when using a slow interface. In addition, there are ...Show More

Abstract:

Control of forces and torques seemed to be solved. But the usual method for position controlled robots is not optimal when using a slow interface. In addition, there are differences between control with a compliant sensor and with a stiff sensor, even more if the sensor is distant from the contact point and with respect to the vector of the desired force. The method proposed in this paper further considers a point-surface contact, from which the sensor cannot infer on rotation. We also consider the automatic detection of this case. A further obstacle to force control with compliant sensors is the fact that only small scale sensors are available. Therefore a method for the scaling of existing sensors and an example of its use are presented.
Date of Conference: 07-09 June 2010
Date Added to IEEE Xplore: 01 June 2011
Print ISBN:978-3-8007-3273-9
Conference Location: Munich, Germany

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