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High-bandwidth force and impedance control for industrial robots

Published online by Cambridge University Press:  01 January 1998

Eckhard Freund  and
Jürgen Pesara
Eckhard Freund
Affiliation:
Institute of Robotics Research, University of Dortmund, D-44227 Dortmund, Germany. E-mail freund@damon.irf.uni-dortmund.de or pesara@damon.irf.uni-dortmund.de
Jürgen Pesara
Affiliation:
Institute of Robotics Research, University of Dortmund, D-44227 Dortmund, Germany. E-mail freund@damon.irf.uni-dortmund.de or pesara@damon.irf.uni-dortmund.de
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Abstract

Common geared industrial robots call for force control methods with special properties such as good rejection of frictional disturbances, smoothness of corrective motions, and more. A new method is presented which meets these requirements and provides a high control bandwidth. In the manner of hybrid control, directions of a task frame can be selected to be force, impedance or position controlled. A joint-based inner position loop and a superimposed predictive force controller are used. Practical results include data from a robotic grinding facility. Here, the controller proved robustness and good performance under rough conditions.

Keywords

Industrial robotsForce controlImpedance controlPredictive controlInner loop
Type
Research Article
Information
Robotica , Volume 16 , Issue 1 , January 1998 , pp. 75 - 87
Copyright
© 1998 Cambridge University Press

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