F/T Sensor를 이용한 산업용 로봇에 의한 물체 선단추적에 관한 연구

A Study on the Edge Following of Task Object by Industrial Robot Using F/T Sensor

In this paper, a force control algorithm for edge following task is suggested. Through the contact state modeling between rigid part and end-effector of robot, contact force and contact angle that are essencial parameters to build the control strategies for following movement of end-effector are derived. From these two parameters, we discriminate the every contact state into 8 cases and calculate the new moving position and direction simply. For the experiment. RX90 robot from Staubli with robot language V$^{+}$ is applied and F/T sensor is attached to the wrist of robot with RCC. Finally, 3 edge following experiments including the following of corner point are executed with successful results.s.