Force control of an industrial PUMA 560 robot under environmental constraints: implementation issues and experimental results

Abstract

The problems of deformations occurring in a robot working in contact with the environment can be solved by taking into account forces exerted at the end-effector level. A solution to compensate for these deformations by using a force control scheme is given. The results, which are illustrated in the form of graphs, are obtained from experiments on a real robotic setup built around a PUMA 560 robot.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>