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This paper investigates simple explicit and implicit force control approaches for industrial robots. They are applied to impact and contact control. Furthermore, some of these algorithms are used for force controlled contour following, extended by additional features to improve the control behavior. A lot of approaches published in the past are not easy to implement in commercial robot controllers,...
This article presents an approach to intuitive collision avoidance of handoperated robots. Hand-operations are realized by means of zero-force impedance control using force/torque sensor. Impedance control is then combined with the method of artificial potential fields exerting force on the end-effector. This force can be felt by human, who acts on the manipulator and cooperates with the robot. The...
In this paper we introduce a new approach for improving hand-guiding of robotic arms. We present the tunnel-shaped potential force field (TSPFF) which guides the user along a reference trajectory in order to improve the user comfort of handling robots. The reference trajectory is computed using the learning data of experienced users. The TSPFF is realized by an impedance control of the robot. The...
This paper deals with establishing of the electrical connection between a plug and a receptacle by a robot manipulator for the purpose of charging electrical vehicles. In general, the task of the robot for automatic charging of vehicles consists of two phases. In the first phase, the robot system defines the position of the charging receptacle of the vehicle using vision or infrared system. After...
This paper will propose algorithms for transporting different objects from moving circular conveyor with the help of vision/force robot control. Poses and speeds of the objects are calculated from sequential images captured by 3D-camera mounted on the hand of the robot. In the conveyor there are 4 slots which contain four differently formed and coloured objects. The cross sections of these objects...
This paper will present a new proposed system which combines vision and force control in order to transfer model-free objects between human hand and robot hand. The proposed system will improve robot's facilities to interact with human, especially during handing-over tasks. The contributions of this work are: 1. The robot system will be able to detect all kinds of objects which are carried out by...
Most of robot applications which require interaction with human intend to hand over different objects between the both parties. In general, most of previous systems have supposed that the transfer task will be exclusively performed by human. However, how the task will be performed if the human is blind, elderly, disabled or concentrating on something else? In this case the transfer task should be...
This paper deals with controller features which improve force controlled contour following. This kind of robot force control may by used in surface finishing tasks like polishing, deburring or grinding. The already introduced proportional controller with positive position feedback brought very good results in force control of a position controlled robot in both impact and contact phase. If the characteristics...
In this paper the control of the well known inverted pendulum will be performed by using visual servoing algorithms. The pendulum will be mounted on the flange of an articulated robot arm and it will be observed by 2D-camera. The inclination angle of the pendulum will be computed in the real time with the help of image processing algorithms. In order to swing-up the pendulum, a special algorithm will...
Handing-over objects from robot to humans is essential step to perform different tasks especially those requiring physical interaction between the robot and the human, e.g. service robots can help elderly, blind and disabled people or human-robot teamwork could work together in factories. This work will propose a new robot system which combines visual servoing and force control in order to hand over...
This paper deals with the stabilization of the inverted pendulum mounted on an industrial robot. The manipulator which actuates the pendulum can be controlled only on the level of the position control loops. For controller design the parameters of the pendulum and the robot have been determined. Especially the identification of Coulomb and viscous friction with the help of the decay function of pendulum...
In robotic contour-following tasks, such as sewing or cutting, an industrial robot guides a tool along the contour of a workpiece. Manually teaching the robot is time consuming and results in a system that is unable to react to uncertainties or changes in the environment. Because the cost effectiveness of a robotic solution depends on the amount of human intervention, particularly small series production...
This paper investigates simple position based force control algorithms for an industrial robot. A lot of approaches to robot force control published in the previous three decades are difficult to implement in commercial robot controllers. This fact is one reason why force controlled robots rarely appear in industrial applications. On the other side force control may improve some robot tasks like automated...
Most of robot applications require robots to interact with environment, objects or even with human, which need to integrate vision and force information. Generally, there are five types of vision-force control: pure position control, pure force control, traded control, shared control and hybrid control. The important questions here are: How to define the most appropriate control mode for every part...
Sorting systems are required in many places with different types of applications such as in manufacturing industry, libraries, factories, warehouses, pharmacies, supermarkets etc. In this work it is suggested that an automated sorting system shelves and rearranges imprecisely placed objects using integrated vision/force robot control. The system will sort the objects not only depending on their shapes...
Recently, vision and force control are operated in a more complex varied environments, which required a high demand for adaption, flexibility and fast performance. More information and features about the environment are required whenever the tasks are more complex and multifarious such as storage and retrieval tasks which are spread everywhere, for example in libraries, factories, warehouses, pharmacies,...
In robotic contour following tasks such as sewing or cutting an industrial robot guides a tool along a contour of a workpiece. Teaching the task manually is very time consuming and the process would be unable to react to uncertainties or changes of the environment. Thus sensor systems are applied to reduce human intervention, making the robot more autonomous. In this paper we present an integrated...
In robotic contour following tasks such as sewing, grinding or applying adhesives, the robot moves a tool along a desired path on a workpiece. In order to compensate inaccuracies of the path definition a vision system can be used to guide the robot during task execution. This paper presents an algorithm to adjust the position and orientation of the tool by predictive vision-based control that compensates...
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