Using six degree of freedom impedance controlled robots to perform contact tasks in a workcell

David Jossi, Max Donath

Research output: Contribution to conferencePaper

3 Scopus citations

Abstract

The use of high bandwidth, six degree-of-freedom impedance controlled robot to perform tasks of limited positioning and contacts with components is investigated. The two tasks are associated with loading and unloading of tools and workpieces in and out of a machining center in uncertain positions, such as cranking, sliding and screwing. The resulting interface forces between the manipulator and its environment are kept within acceptable levels despite unintentional inaccurate positioning. The impedance controlled robots can be readily integrated with the types of equipment and environments found on factory floors, while simultaneously reducing the accuracy required by the robot or by the tooling set up which leads to lower costs.

Original languageEnglish (US)
Pages207-216
Number of pages10
StatePublished - Dec 1 1995
EventProceedings of the 1995 ASME International Mechanical Engineering Congress and Exposition - San Francisco, CA, USA
Duration: Nov 12 1995Nov 17 1995

Other

OtherProceedings of the 1995 ASME International Mechanical Engineering Congress and Exposition
CitySan Francisco, CA, USA
Period11/12/9511/17/95

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    Jossi, D., & Donath, M. (1995). Using six degree of freedom impedance controlled robots to perform contact tasks in a workcell. 207-216. Paper presented at Proceedings of the 1995 ASME International Mechanical Engineering Congress and Exposition, San Francisco, CA, USA, .