Hybrid position and force control algorithm expansion of a robot control system

Abstract

At the Technical University of Budapest within the scope of a project supported by the Hungarian Research Fund (OTKA, grant No. T029072) an experimental robot control system has been developed. Last year a new component, a six-axis force/torque sensor and the related control unit were added to the system, allowing to implement the hybrid position and force control algorithm. The purpose of this study is to describe the new hardware component and its tasks within the control system. The paper presents an overview of the control algorithm and summarises the architecture of the experimental robot control and the force/torque sensor systems. Then the architecture of the hardware designed and its computing task are outlined. Finally, estimation for the cycle time required by the calculations is given.