Quantitative Analysis of the Force Control Capability of Standard Industrial Robot Axes

被引：0

作者：

Lotz, M. ^{[1
]}

Pfeffermann, M. ^{[1
]}

Bruhm, H. ^{[1
]}

Czinki, A. ^{[1
]}

机构：

[1] Univ Appl Sci, Hsch Aschaffenburg, Aschaffenburg, Germany

来源：

MECATRONICS REM 2012 | 2012年

关键词：

force control; industrial robots; experimental analysis;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

Force control is an essential feature for industrial robotics on its way towards new and challenging applications. However, in the field of industrial robots there is only very limited information available on the performance and limitations of industrial robot systems operated in force control mode. Against this background, the paper discusses the force control ability of standard industrial robot axes. Based on experimental analysis of two standard industrial robots (Reis RV6L, Reis RL50), this paper discusses the influence of the mechanical design, the feed-in level on joint space as well as the cycle time of the force controller on the overall force control performance. Investigations have been based on three different contact scenarios: "manual guidance", "contact with a rigid environment" and "impact".

引用

页码：169 / 176

页数：8

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