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Superimposed force/torque-control of cooperating robots

: Spiller, Alexander; Verl, Alexander

Informationstechnische Gesellschaft -ITG-, Information Technology Society of VDE; Verband Deutscher Maschinen- und Anlagenbau e.V. -VDMA-, Fachverband Robotik und Automation, Frankfurt/Main; International Federation of Robotics; Deutsche Gesellschaft für Robotik -DGR-:
ISR/ROBOTIK 2010, Proceedings for the joint conference of ISR 2010, 41st International Symposium on Robotics und ROBOTIK 2010, 6th German Conference on Robotics : 7-9 June 2010 - Parallel to AUTOMATICA
Berlin: VDE-Verlag, 2010
ISBN: 978-3-8007-3273-9
International Symposium on Robotics (ISR) <41, 2010, Munich>
German Conference on Robotics (ROBOTIK) <6, 2010, Munich>
Internationale Fachmesse für Automation und Mechatronik (Automatica) <4, 2010, Munich>
Fraunhofer IPA ()
cooperating robot; industrial robot; robot control; force reduction; Industrieroboter; Robotersteuerung; Zusammenarbeit

Cooperating robots are used in industrial environments for handling large and/or heavy workpieces. The robots get calibrated to each other, so every involved robot knows the exact position of the other robots. The robots are controlled by pure position control. Inevitable position errors come up and lead to massive forces and torques, which stress the workpiece internally. We show a method how those forces and torques can be minimized by using active force/torque-control. Hereby we enable effective load sharing in any orientation because a free-wheeling bearing is not necessary any more. The position controlled trajectory is still calculated by the standard robot controller, the force control is superimposed to that trajectory. Hence the path velocity in cooperating mode with force control can be set to the same level as without force control. Initially the studies were of simulative nature. After that the controller was parameterized and verified with two real industrial robots. We developed a framework, which is vendor-independent and can be used for any system of industrial cooperating robots.