Model-Based Signal Processing for the Force Control of Biaxial Gantry Robots * * This work was supported by Festo AG & Co. KG

摘要

For the automation of certain industrial tasks, like the handling of deformable materials, force/torque sensors are frequently employed in robotic manipulators. This work investigates different signal processing strategies for a force sensor mounted on the end-effector of a biaxial gantry robot. For this, a suitable mathematical model of the manipulator is derived and analyzed. The merits and limitations of the proposed signal processing strategies are compared and validated by a number of experimental results.