Force Control Of Industrial Robots Research Articles

Stable Force Control of Industrial Robot Based on Spring Ratio and Instantaneous State Observer

Stable Force Control of Industrial Robot Based on Spring Ratio and Instantaneous State Observer

Force control of industrial robots: The contact problem

Robust force controllers for hybrid position/force control structures of industrial robots are investigated in this paper. A force control procedure for the application of forces on a stiff environment is developed. A point of emphasis is the transition from free to constrained motion. Robust controllers prove to be particularly appropriate for this application. It is shown that, with increasing stiffness of the closed chain formed by the robot arm and the environment, there is also an increase in the requirement for the drive units of the motion axes and for the power of the control computer.