Robot skills - Modeling and control aspects

Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

Abstract

This paper considers robot control and programming from modelling point of view: re-usable robot operations are modelled as skills, which integrate and synchronize robot actions and sensor data in a consistent way. We put focus on contact motions and their programming and have the basis on parametrized impedance control. The characteristic of impedance controlled motions, i.e., effects of speed and environment changes to resulting forces, are studied in details by modelling and practical tests. With appropriate parameter settings a variety of tasks and skills with contact motions can be established relying on the same force/torque control strategy.

Original languageEnglish
Title of host publication2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018
PublisherIEEE Institute of Electrical and Electronic Engineers
ISBN (Electronic)978-1-5386-4642-7, 978-1-5386-4643-4
ISBN (Print)978-1-5386-4644-1
DOIs
Publication statusPublished - 27 Aug 2018
MoE publication typeNot Eligible
Event14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018 - Oulu, Finland
Duration: 2 Jul 20184 Jul 2018

Conference

Conference14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018
CountryFinland
CityOulu
Period2/07/184/07/18

Fingerprint

robots
Robot
Robots
programming
Motion
Programming
robot control
Modeling
impedance
Impedance Control
Contact
Robot Control
Torque control
Force control
Impedance
Torque
torque
Control Strategy
Integrate
Sensor

Keywords

  • impedance control
  • model
  • Robot skill

Cite this

Heikkila, T., & Ahola, J. M. (2018). Robot skills - Modeling and control aspects. In 2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018 [8449184] IEEE Institute of Electrical and Electronic Engineers . https://doi.org/10.1109/MESA.2018.8449184
Heikkila, Tapio ; Ahola, Jari M. / Robot skills - Modeling and control aspects. 2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018. IEEE Institute of Electrical and Electronic Engineers , 2018.
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Heikkila, T & Ahola, JM 2018, Robot skills - Modeling and control aspects. in 2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018., 8449184, IEEE Institute of Electrical and Electronic Engineers , 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018, Oulu, Finland, 2/07/18. https://doi.org/10.1109/MESA.2018.8449184

Robot skills - Modeling and control aspects. / Heikkila, Tapio; Ahola, Jari M.

2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018. IEEE Institute of Electrical and Electronic Engineers , 2018. 8449184.

Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

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Heikkila T, Ahola JM. Robot skills - Modeling and control aspects. In 2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018. IEEE Institute of Electrical and Electronic Engineers . 2018. 8449184 https://doi.org/10.1109/MESA.2018.8449184