Adaptation of Force Control Parameters in Robotic Assembly
Andreas Stolt, Magnus Linderoth, Anders Robertsson, Rolf Johansson
Industrial robots are usually programmed to follow desired trajectories, and are very good at position-controlled tasks. New applications, however, often require physical contact between the robot and its environment, and then the position control accuracy is generally not sufficient. Force control is a suitable alternative. The environment is often stiff, and then it is crucial to design appropriate force controllers, which is non-trivial for a robot programmer. This paper presents an adaptive algorithm for choosing force control parameters, based on identification of a contact model. The algorithm is experimentally verified in an assembly task with an industrial robot.
In 10th International IFAC Symposium on Robot Control, Dubrovnik, Croatia, September 2012.