Force control of an industrial PUMA 560 robot under environmental constraints: implementation issues and experimental results

@article{Dgoulange1993ForceCO,
  title={Force control of an industrial PUMA 560 robot under environmental constraints: implementation issues and experimental results},
  author={E. D{\'e}goulange and P. Dauchez and F. Pierrot},
  journal={[1993] Proceedings IEEE International Conference on Robotics and Automation},
  year={1993},
  pages={213-218 vol.1}
}
The problems of deformations occurring in a robot working in contact with the environment can be solved by taking into account forces exerted at the end-effector level. A solution to compensate for these deformations by using a force control scheme is given. The results, which are illustrated in the form of graphs, are obtained from experiments on a real robotic setup built around a PUMA 560 robot.<<ETX>> 
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