STUDY OF THE USE OF A COMPLIANT ELEMENT FOR IMPROVING THE CONTROL FORCES FOR INDUSTRIAL ROBOTS
Marcel Tômas Grando1; Henrique Simas1; Daniel Martins1
1 Universidade Federal de Santa Catarina
doi:10.20906/CPS/COB-2015-1679
Resumo
Additional forces and moments are necessary on robot joints to perform displacements for robotic tasks requiring contact with the environment. If these forces and moments on end-effector are not controlled properly, the end-effector may fail to accomplish the task satisfactorily or damage itself. The use of robots for the tasks requiring contact with the environment is limited due force/moment sensors generally producing noisy signals. This paper proposing a solution to improve the performance of closed-loop force control strategy applied on a serial industrial robot. A compliant element is used between the end-effector and the force/moment sensor to minimize the noise in force control. However due to compliant element there occur a buffer between the desired goal and the actual one and it is necessary to compensate this buffer. An online path planning is developed for repositioning the robot, according to the forces and moments applied on end-effector which is used to compensate the buffer due to the compliant element. The proposed solution is developed in both 3R planar and 6R spatial robots using its kinetostatic model with the dynamical model of the compliance. As a result, the robot joints trajectories compensating the forces/moments applied on end-effector are shown graphically.
Palavras-chave: force-control; path planning; compliance; robotics