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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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dc.contributor.author Pérez-Ubeda, Rodrigo es_ES
dc.contributor.author Zotovic Stanisic, Ranko es_ES
dc.contributor.author Gutiérrez, S. C. es_ES
dc.date.accessioned 2021-06-03T03:32:09Z
dc.date.available 2021-06-03T03:32:09Z
dc.date.issued 2020-06 es_ES
dc.identifier.uri http://hdl.handle.net/10251/167206
dc.description.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 and other parameters, hindering the possibility of carrying out a customized control. A good alternative to achieve a custom force control is sending the output of the force regulator to the robot controller through motion commands (inner/outer loop control). There are different types of motion commands (e.g., position or velocity). They may be implemented in different ways (Jacobian inverse vs. Jacobian transpose), but this information is usually not available for the user. This article is dedicated to the analysis of the effect of different inner loops and their combination with several external controllers. Two of the most determinant factors found are the type of the inner loop and the stiffness matrix. The theoretical deductions have been experimentally verified on a collaborative robot UR3, allowing us to choose the best behaviour in a polishing operation according to pre-established criteria. es_ES
dc.description.sponsorship 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 Ph.D. Grant CONICYT PFCHA/DOCTORADO BECAS CHILE/2017-72180157. es_ES
dc.language Inglés es_ES
dc.publisher MDPI AG es_ES
dc.relation.ispartof Applied Sciences es_ES
dc.rights Reconocimiento (by) es_ES
dc.subject Force control es_ES
dc.subject Collaborative robot es_ES
dc.subject Inner/outer loop es_ES
dc.subject Elastic robot es_ES
dc.subject Polishing operation es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.subject.classification INGENIERIA DE LOS PROCESOS DE FABRICACION es_ES
dc.title Force Control Improvement in Collaborative Robots through Theory Analysis and Experimental Endorsement es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.3390/app10124329 es_ES
dc.relation.projectID info:eu-repo/grantAgreement/MINECO//DPI2016-81002-R/ES/CONTROL AVANZADO Y APRENDIZAJE DE ROBOTS EN OPERACIONES DE TRANSPORTE/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/CONICYT//2017-72180157/ es_ES
dc.rights.accessRights Abierto es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería Mecánica y de Materiales - Departament d'Enginyeria Mecànica i de Materials es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica es_ES
dc.description.bibliographicCitation 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 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion https://doi.org/10.3390/app10124329 es_ES
dc.description.upvformatpinicio 1 es_ES
dc.description.upvformatpfin 24 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 10 es_ES
dc.description.issue 12 es_ES
dc.identifier.eissn 2076-3417 es_ES
dc.relation.pasarela S\414417 es_ES
dc.contributor.funder European Regional Development Fund es_ES
dc.contributor.funder Ministerio de Economía y Competitividad es_ES
dc.contributor.funder Comisión Nacional de Investigación Científica y Tecnológica, Chile es_ES
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