Abstract
The development of robots capable of interacting dynamically with the environment has proven to be a difficult task. Since a majority of manufacturing tasks require interaction of robots with their environment, this has become an important focus for research in the industry. Solutions both to specific manufacturing operations and to the theoretical body of knowledge within the industry are extremely important. The interaction of the robot with its environment is investigated in this paper for the configuration of a quick actuator and sensor attached to the robot tool. This configuration has been tested in an industrial application for Steinway & Sons, the world renowned piano manufacturer, specifically for the automation of the labor-intensive rubbing and finishing operations. The robot architecture utilizes a combination of macro-micro manipulator to improve its response time. A quick actuator added to the end of the robot arm is the micromanipulator, and the robot arm is the macromanipulator. Force and impedance control laws are executed concurrently by two separate controllers to control the quick actuator and the robot arm respectively. The experimental system proves the ability of this configuration to follow the complex contour of a grand piano rim and to exert a given force while rubbing its surface.
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