Force-torque control of industrial robots for industrial applications

Abstract eng:
The paper deals with the force-torque control for industrial robots for various types of applications such as grinding, drilling, automatic assembly or other applications where contact forces and respective moments need to be controlled in real-time. The experimental set-up is based mainly on a KUKA robot (KR3 or KR15/2) and a FTC sensor (by SCHUNK). Main practical results are concerned with automatic grinding of specific parts provided by industrial partners. Another prospective area covered in this paper is also the interaction between the robot and an operator known as Human Robot Interaction or Cooperation drawing on the FTC paradigm. This cooperation can be used in any technological processes where semi-automatic assembly could prove benefits.

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