The leading industrial robotics community seems to be ready for the integration of force control capabilities with traditional motion controllers. This paper presents the guidelines for the effective realization of such integration, where the key knots from motion control to interaction control are highlighted. Two different interaction control strategies are introduced, namely impedance control and parallel force/position control. The resulting interaction control schemes are obtained from motion control schemes suitably modified by the closure of an outer force feedback loop. Finally, an industrial set up with open control architecture is considered as a paradigm for the implementation of interaction control.
Integration for the next generation: Embedding Force Control into Industrial Robots
NATALE, Ciro;
2005
Abstract
The leading industrial robotics community seems to be ready for the integration of force control capabilities with traditional motion controllers. This paper presents the guidelines for the effective realization of such integration, where the key knots from motion control to interaction control are highlighted. Two different interaction control strategies are introduced, namely impedance control and parallel force/position control. The resulting interaction control schemes are obtained from motion control schemes suitably modified by the closure of an outer force feedback loop. Finally, an industrial set up with open control architecture is considered as a paradigm for the implementation of interaction control.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.