Rolf Johansson, Anders Robertsson, Klas Nilsson, Torgny Brogårdh, Per Cederberg, Magnus Olsson, Tomas Olsson and Gunnar Bolmsjö
Presents an approach to improved performance and flexibility in industrial robotics by means of sensor integration and feedback control in task‐level programming and task…
Abstract
Presents an approach to improved performance and flexibility in industrial robotics by means of sensor integration and feedback control in task‐level programming and task execution. Also presents feasibility studies in support of the ideas. Discusses some solutions to the problem using six degrees of freedom force control together with the ABB S4CPlus system as an illustrative example. Consider various problems in the design of an open sensor interface for industrial robotics and discusses possible solutions. Finally, presents experimental results from industrial force controlled grinding.
Details
Keywords
This paper aims to describe the topic of robot kinematics and provide a modern machine.
Abstract
Purpose
This paper aims to describe the topic of robot kinematics and provide a modern machine.
Design/methodology/approach
The paper examines, in brief, kinematics and robot kinematics, classes, constraints and chains to provide an introduction. An example shows how robot kinematics can benefit the design of advanced machines for industry.
Findings
Robot kinematics, in conjunction with mathematics and other disciplines, lead to a greater understanding of robotics design and control.
Originality/value
This paper discusses robot kinematics in brief as a robot design topic in its own right, as well as presenting the Gantry‐Tau robot as a new and interesting kinematic development. As such, the article should be of general interest to robotics engineers and designers.