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Force controlled handling with cooperating industrial robots

 
: Spiller, Alexander

:
Postprint urn:nbn:de:0011-n-2114005 (667 KByte PDF)
MD5 Fingerprint: af87856e773e71c0c33b0a0955d2bbae
Erstellt am: 14.8.2012


Berns, Karsten (Chair); Verl, Alexander (Vice Chair); Hägele, Martin (Session Chair) ; Deutsche Gesellschaft für Robotik; Informationstechnische Gesellschaft im VDE; Fraunhofer-Institut für Produktionstechnik und Automatisierung -IPA-, Stuttgart; TU Kaiserslautern:
ROBOTIK 2012, 7th German Conference on Robotics 2012. Proceedings. CD-ROM : 21-22 May 2012, Munich in Conjunction with Automatica 2012
Berlin: VDE-Verlag, 2012
ISBN: 978-3-8007-3418-4
S.496-501
German Conference on Robotics (ROBOTIK) <7, 2012, Munich>
International Trade Fair on Automation and Mechatronics (AUTOMATICA) <5, 2012, Munich>
Englisch
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IPA ()
cooperating robot; force control; handling; pick and place; Kraftregelung; Prozessmodell; kooperierende Roboter; Industrieroboter; Führung (Bewegung von Werkzeug / Werkstück); Robotersteuerung

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.

: http://publica.fraunhofer.de/dokumente/N-211400.html