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Force Control Improvement in Collaborative Robots through Theory Analysis and Experimental Endorsement

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Force Control Improvement in Collaborative Robots through Theory Analysis and Experimental Endorsement

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Pérez-Ubeda, R.; Zotovic Stanisic, R.; Gutiérrez, SC. (2020). Force Control Improvement in Collaborative Robots through Theory Analysis and Experimental Endorsement. Applied Sciences. 10(12):1-24. https://doi.org/10.3390/app10124329

Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/167206

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Title: Force Control Improvement in Collaborative Robots through Theory Analysis and Experimental Endorsement
Author: Pérez-Ubeda, Rodrigo Zotovic Stanisic, Ranko Gutiérrez, S. C.
UPV Unit: Universitat Politècnica de València. Departamento de Ingeniería Mecánica y de Materiales - Departament d'Enginyeria Mecànica i de Materials
Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica
Issued date:
Abstract:
[EN] Due to the elasticity of their joints, collaborative robots are seldom used in applications with force control. Besides, the industrial robot controllers are closed and do not allow the user to access the motor torques ...[+]
Subjects: Force control , Collaborative robot , Inner/outer loop , Elastic robot , Polishing operation
Copyrigths: Reconocimiento (by)
Source:
Applied Sciences. (eissn: 2076-3417 )
DOI: 10.3390/app10124329
Publisher:
MDPI AG
Publisher version: https://doi.org/10.3390/app10124329
Project ID:
info:eu-repo/grantAgreement/MINECO//DPI2016-81002-R/ES/CONTROL AVANZADO Y APRENDIZAJE DE ROBOTS EN OPERACIONES DE TRANSPORTE/
info:eu-repo/grantAgreement/CONICYT//2017-72180157/
Thanks:
The authors are grateful for the financial support of the Spanish Ministry of Economy and European Union, grant DPI2016-81002-R (AEI/FEDER, UE), to the research work here published. Rodrigo Perez-Ubeda is grateful to the ...[+]
Type: Artículo

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