Preview Control for Robot Force Control: Experimental Investigation of Edge-Following

Abstract

It is often useful in automation tasks to make a robot manipulator interact with its environment in a controlled manner. This paper considers an edge-following using accommodation force control. The robot behavior changes with configuration, and unexpected workpiece disturbances degrade the system performance. The tracking speed and force regulation of the edge-following can be improved by preview control. The preview controller is implemented on an industrial robot system, and experiments are carried out to verify validity of the preview control.