Force Control of Redundant Industrial Robots with an Approach for Singularity Avoidance Using Extended Task Space Formulation (ETSF)
نویسندگان
چکیده
This paper presents a robot control system using force control on a redundant industrial robot. The control system is based upon an active force feedback system using six axes force sensor attached to the robot’s end effector. The redundancy is used to explore a model for singularity avoidance based on different states of redundancy. The system is implemented and tested experimentally for one of the described states on a NACHI MR20 seven axes robot. The experimental results demonstrate the possibility to control a redundant industrial robot by force control.
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