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2012
Conference Paper
Title

Force controlled handling with cooperating industrial robots

Abstract
In this paper, we discuss the process of "handling a work piece" with cooperating industrial robots with the intention of minimizing the forces inside the work piece during the process. The process is very similar to the single-robot process "pick-and-place", but is analysed for the special case of two robots handling one work piece together. We present a qualitative separation of the process in different phases and explain the necessity for different control strategies per phase. We then present a control scheme for the phase "running into work piece". The paper ends with the discussion of results, taken from our test rig, using the control scheme.
Author(s)
Spiller, Alexander
Verl, Alexander
Mainwork
ROBOTIK 2012, 7th German Conference on Robotics 2012. Proceedings. CD-ROM  
Conference
German Conference on Robotics (ROBOTIK) 2012  
International Trade Fair on Automation and Mechatronics (AUTOMATICA) 2012  
File(s)
Download (667.74 KB)
Rights
Use according to copyright law
DOI
10.24406/publica-fhg-376341
Language
English
Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA  
Keyword(s)
  • cooperating robot

  • force control

  • handling

  • pick and place

  • Kraftregelung

  • Prozessmodell

  • kooperierende Roboter

  • Industrieroboter

  • Führung (Bewegung von Werkzeug / Werkstück)

  • Robotersteuerung

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