Return to search

FTC řízení průmyslových robotů / FTC Control in connection with industrial robots

This diploma thesis presents theoretical possibilities of force/torque control algorithms for industrial robots equipped with force sensor so it deals with interaction between industrial robot and environment. The most important types of control schemes are presented. Practical part deals with design gripper for specific workpiece and for grinding using industrial robot with force feedback. For this operation is given force/torque control design, using industrial robot KUKA KR16, FTC sensor SCHUNK FTC 50-80V and PLC. Further deals with compensation of gravity and dynamics forces.

Identiferoai:union.ndltd.org:nusl.cz/oai:invenio.nusl.cz:229960
Date January 2011
CreatorsFlekal, Lukáš
ContributorsPochylý, Aleš, Kubela, Tomáš
PublisherVysoké učení technické v Brně. Fakulta strojního inženýrství
Source SetsCzech ETDs
LanguageCzech
Detected LanguageEnglish
Typeinfo:eu-repo/semantics/masterThesis
Rightsinfo:eu-repo/semantics/restrictedAccess

Page generated in 0.0019 seconds