Robot skills - Modeling and control aspects

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

    1 Citation (Scopus)

    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.
    @inproceedings{1a03963d25d94d7db2f7c353a3922a60,
    title = "Robot skills - Modeling and control aspects",
    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.",
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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