Novel force-sensor-less contact motion control for quick and smooth industrial robot motion

摘要

This paper proposes a novel force-sensor-less contact motion control for quick and smooth industrial robot motion. Industrial robots serve important functions in modern industrial society. However, their general application is limited because they employ only position based high-stiffness control methods. The proposed method achieves smooth contact motion for new applications of industrial robots, and it solves two of the problems of contact motion control. First, impulsive force is reduced through active braking motion control. Second, wasted motion is decreased by applying integral-proportional(I-P) force control after contact. Experimental results show the validity of the proposed method with a three-degree-of-freedom(DOF) robot. The proposed method achieves a 78.7% decrease in settling time and a 6% reduction in impulsive force. The proposed method has the potential to improve fast contact motion through a profile control application.