COMPARISON OF CONTACT FORCE CONTROL STRATEGIES ON DIFFERENT ROBOT ARM TYPES


YALTIRIK H. , Kar A. K. , EKİCİ B.

10th ASME Biennial Conference on Engineering Systems Design and Analysis, İstanbul, Türkiye, 12 - 24 Temmuz 2010, ss.809-817 identifier

  • Basıldığı Şehir: İstanbul
  • Basıldığı Ülke: Türkiye
  • Sayfa Sayıları: ss.809-817

Özet

Nowadays robots are used in various areas. There are extremely important applications where the robot arm tip comes in contact with the environment or an object. During controlling an object, static or in motion, the object or the robot arm should not be damaged. The interaction forces are important in such conditions. Whether the task succeeds or fails depends on how accurate the interaction forces are controlled. The interaction forces are changed depending on the motion of the robot arm. Therefore, to control interaction forces a force control algorithm must he developed. In this research a force control algorithm will first be developed for the quasi-static contact tasks, then it will be extended to the dynamic cases.