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.
| Identifer | oai:union.ndltd.org:nusl.cz/oai:invenio.nusl.cz:229960 |
| Date | January 2011 |
| Creators | Flekal, Lukáš |
| Contributors | Pochylý, Aleš, Kubela, Tomáš |
| Publisher | Vysoké učení technické v Brně. Fakulta strojního inženýrství |
| Source Sets | Czech ETDs |
| Language | Czech |
| Detected Language | English |
| Type | info:eu-repo/semantics/masterThesis |
| Rights | info:eu-repo/semantics/restrictedAccess |
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