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https://hdl.handle.net/10216/101571| Author(s): | António Lopes Fernando Almeida |
| Title: | A force-impedance controlled industrial robot using an active robotic auxiliary device |
| Issue Date: | 2008 |
| Abstract: | A strategy to improve the performance of current commercial industrial robots is presented in this paper. This strategy involves cooperation of two robotic manipulators: the robotic controlled impedance device (RCID) and a commercial industrial robot. The RCID is a small six degrees-of-freedom (DOF) high bandwidth force-impedance controlled parallel manipulator, developed at the School of Engineering of the University of Porto (Portugal). The RCID works attached in series with a position controlled commercial industrial robot. Combination of the two manipulators behaves as a single manipulator having the impedance and force control dynamic performance of the RCID, as well as the workspace and trajectory tracking bandwidth of the industrial robot. Force-impedance control of the RCID, and experimental results on typical tasks that involve end-effector contact with uncertain environments of unknown stiffness are presented. |
| Subject: | Ciências da computação e da informação Computer and information sciences |
| Scientific areas: | Ciências exactas e naturais::Ciências da computação e da informação Natural sciences::Computer and information sciences |
| URI: | https://hdl.handle.net/10216/101571 |
| Document Type: | Artigo em Revista Científica Internacional |
| Rights: | restrictedAccess |
| Appears in Collections: | FEUP - Artigo em Revista Científica Internacional |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| 55953.pdf Restricted Access | 893.04 kB | Adobe PDF | Request a copy from the Author(s) |
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