Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK

Filters

2 2
2
Reset filters

Settings
Now showing 1 - 2 of 2
No Thumbnail Available
Publication

A comparison of control strategies for force constrained cooperating robots

1991 , Zhang, Y. , Duelen, G. , Münch, H.

An efficient hybrid control concept for forceconstrained cooperating robots is presented and compared with separate position control and master/slave control by the simulation on typical cooperating robot systems with two six-jointed industrial robots using exemplary tasks.

View
No Thumbnail Available
Publication

Intelligent programming of force-constrained cooperating robots

1991 , Zhang, Y. , Duelen, G. , Münch, H.

In this paper, concepts and algorithms for the coordinated optimal motion planning and force distribution for force-constrained cooperating robots are presented. The developed algorithms are characterized by the possibility to take various task specific requirements into consideration and by its adaptability to any kinematic and any assignment in the production cell through corresponding modelling, without change of the solution structure. This implies, on one hand, free programmability, and on the other hand, the integration of all task-related constraints and requirements.

View