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Authors
Alexander Winkler; Jozef Suchy

Identifier
10.3182/20060906-3-IT-2910.00085

Index Terms
robot control,force control,industrial robot,adaptation

Abstract
This article presents an approach to robot force control for a compliant motion task with a commercial robot system. It consists of two parts: First is the algorithm for fast and sure environment contact detection. Second is the hybrid position/force control algorithm for contour following of an unknown surface. It contains the estimation of gradient of environment surface at contact point and the adaptation of working velocity. The approach is implemented in the robot controller and its functionality is shown on the drawing example task. The results of new algorithm are compared with results of the standard force control functions.

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