Force Control Improvement in Collaborative Robots through Theory Analysis and Experimental Endorsement
Source abstract
Abstract
Due to the elasticity of their joints, collaborative robots are seldom used in applications with force control. Besides, the industrial robot controllers are closed and do not allow the user to access the motor torques and other parameters, hindering the possibility of carrying out a customized control. A good alternative to achieve a custom force control is sending the output of the force regulator to the robot controller through motion commands (inner/outer loop control). There are different types of motion commands (e.g., position or velocity). They may be implemented in different ways (Jacobian inverse vs. Jacobian transpose), but this information is usually not available for the user. This article is dedicated to the analysis of the effect of different inner loops and their combination with several external controllers. Two of the most determinant factors found are the type of the inner loop and the stiffness matrix. The theoretical deductions have been experimentally verified on a collaborative robot UR3, allowing us to choose the best behaviour in a polishing operation according to pre-established criteria.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Robot Manipulation and Learning · Teleoperation and Haptic Systems · Soft Robotics and Applications
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Mechanical and Materials Engineering, Universitat Politècnica de València, 46022 Valencia, Spain
Institute of Industrial Control Systems and Computing (ai2), Universitat Politècnica de València, 46022 Valencia, Spain
Funding
Comisión Nacional de Investigación Científica y Tecnológica · Agencia Estatal de Investigación
References (39)
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