Naslov
Experimental Evaluation of Parameters for Robotic Contouring Force Feedback Applications

Autori
Švaco, Marko ; Vitez, Nikola ; Jerbić, Bojan ; Šuligoj, Filip ; Šekoranja, Bojan ; Vidaković, Josip

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Skup
The International Conference Management of Technology – Step to Sustainable Production (MOTSP 2017)

Mjesto i datum
Dubrovnik, Hrvatska, 05.04.2017. - 07.04.2017

Vrsta sudjelovanja
Poster

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
robotics ; force-torque sensor ; force sensing ; contouring

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Računarstvo, Strojarstvo

POVEZANOST RADA