Robot skills - modeling and control aspects

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.