A force-impedance controlled industrial robot using an active robotic auxiliary device

• Type: Article in International Scientific Journal
• Date: 2008

Authors

António Lopes (Author) FEUP; Fernando Almeida (Author) FEUP

Journal

Title: Robotics and Computer-Integrated Manufacturing

Vol. 24 No. 5

Pages: 299-309

ISSN: 0736-5845

Publisher: Elsevier

Indexing

ISI Web of Knowledge - 76 Citations

ISI Web of Science

Scopus - 100 Citations

COMPENDEX

INSPEC

Scientific classification

FOS: Natural sciences > Computer and information sciences

Other information

Authenticus ID: P-003-Z70

DOI: 10.1016/j.rcim.2007.04.002

Abstract (EN): A strategy to improve the performance of current commercial industrial robots is presented in this paper. This strategy involves cooperation of two robotic manipulators: the robotic controlled impedance device (RCID) and a commercial industrial robot. The RCID is a small six degrees-of-freedom (DOF) high bandwidth force-impedance controlled parallel manipulator, developed at the School of Engineering of the University of Porto (Portugal). The RCID works attached in series with a position controlled commercial industrial robot. Combination of the two manipulators behaves as a single manipulator having the impedance and force control dynamic performance of the RCID, as well as the workspace and trajectory tracking bandwidth of the industrial robot. Force-impedance control of the RCID, and experimental results on typical tasks that involve end-effector contact with uncertain environments of unknown stiffness are presented.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 11