University of Zenica, Zenica, Bosnia and Herzegovina
Faculty of mechanical engineering, University of Zenica, Zenica, Bosnia and Herzegovina
Faculty of mechanical engineering, University of Zenica, Zenica, Bosnia and Herzegovina
Robot manipulators are usually used in many industrial apllications where a number of practical tasks should be executed. The very important part of that execution is interaction between robot and environment. Control of the interaction is crucial for successful execution of industrial processes. Typical applications include deburring, machining, assembly, polishing, welding and others. The main problem is to find or to choose a proper strategy to control contact force between robot and environment. There are
two basic methods of robot force control:
• Indirect force control
• Direct force control.
The main content of this paper is a brief description of these methods and experimental determinatiom of maximal contact forces, depending on the configuration and the speed of the robot arm. Experimental work has been done using robotic system FESTO RV2AJ with the help of piezoelectric dynamometer KISTLER 5070. The results of measuring are presented and analyzed by table and graphic. According to results of analysis the proper and useful conclusions are made which are pointing on the importance of robot force control for successful execution of practical tasks.
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