000009251 001__ 9251
000009251 005__ 20141204092422.0
000009251 04107 $$aeng
000009251 046__ $$k12/05/2014
000009251 100__ $$aFlekal, L.
000009251 24500 $$aForce-torque control methods for industrial robots

000009251 24630 $$n18.$$pEngineering Mechanics 2012
000009251 260__ $$bInstitute of Theoretical and Applied Mechanics, AS CR, Prague
000009251 506__ $$arestricted
000009251 520__ $$2eng$$aThe paper deals with Force – Torque control methods for industrial robots. The key aspect of these methods is to control a contact between a tool and a workpiece when either the tool or the workpiece is mounted on the robot flange. Real-time control of contact forces and moments is necessary. It is suitable to use it on a variety of industrial operations such as grinding, deburring, other machining operations or automatic assembly. The experimental set-up is based on a KUKA robot with FTC sensor (SCHUNK FTC-050) mounted on the robot and an external PLC system used for main control and connecting other essential sensors and devices. Main practical results are concerned with a design of specific end effector for a specific workpiece and with determining the contact between a workpiece and the surface maintaining a constant force during robot motion.

000009251 540__ $$aText je chráněný podle autorského zákona č. 121/2000 Sb.
000009251 653__ $$aforce-torque control, industrial robots, real-time control, PLC, robot motion

000009251 7112_ $$aEngineering Mechanics 2012$$cSvratka (CZ)$$d12/05/2014 - 15/05/2014$$gEM2012
000009251 720__ $$aFlekal, L.$$iKubela, T.$$iPochylý, A.$$iSingule, V.
000009251 8560_ $$ffischerc@itam.cas.cz
000009251 8564_ $$s392847$$uhttps://invenio.itam.cas.cz/record/9251/files/221_Flekal_L-FT.pdf$$yOriginal version of the author's contribution as presented on CD, paper (No. 221).
000009251 962__ $$r8924
000009251 980__ $$aPAPER