State of the art analysis of force control in robot systems

• Grant number: 07/04034-6
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Start date: September 01, 2007
• End date: August 31, 2008
• Field of knowledge: Engineering - Mechanical Engineering
• Principal Investigator: Glauco Augusto de Paula Caurin
• Grantee: Christoffer Tenório Emídio de Souza
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

The present project proposes the study of state of the art of controllers of force applied the robotic systems. A study on the current state of the methods will be carried through, in order to update the different boardings, mainly the boardings based on classic methods. Methods of direct and indirect control will be boarded. Inside of these two areas exist diverse works, so it will be possible to select amongst the existing works, those whose scientific contribution of more relevance for applications in the environment of available development in the Laboratory of Mecatronics in the School of Engineering of Sao Carlos - EESC. From the found and preselected methods, applications of the biggest possible number of different methods will be carried out to generate an evaluation of the applicability of the same ones and of its results. Two systems will be used to apply the methods: a simple system for the control of an only axis, formed by a servomotor, a system of transmission for gear and a bar, that will be constructed in the laboratory and will allow to emulate some classic tests with force control; and a robot of type SCARA of open architecture (already available), where the control will be applied at the tip of the robot (TCP). Thus, at the end of the work, with a general vision of the processes of control of force in robotic systems, new proposals of robotic control will be analised in face of the most current modalities of force control.