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Drilling with force feedback
Linköping University, Department of Electrical Engineering, Automatic Control.
2009 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesisAlternative title
Borrning med kraftreglering (Swedish)
Abstract [en]

Industrial robots have been used for a long time in the industry. Despite this thedevelopment of advanced force control system using industrial robots is relativelylimited. Using force controlled robot systems expands the possibility of what canbe done with industrial robots.Previously a force feedback system for a standard industrial robot from ABBhas been developed. The system is developed towards the aircraft industry, where amounted drill machine on the robot has to fulfill the requirements in robot drillingin aircraft structures. This thesis presents experimental results and improvementsof this industrial robot system. Mechanical modifications and tests of a new endeffector are analyzed.

Place, publisher, year, edition, pages
2009. , 66 p.
Keyword [en]
Industrial robot, drilling, force feedback, aircraft industy, impedance control
National Category
Engineering and Technology
URN: urn:nbn:se:liu:diva-20897ISRN: LiTH-ISY-EX--09/4028--SEOAI: diva2:236756
Subject / course
Automatic Control
Available from: 2009-09-25 Created: 2009-09-24 Last updated: 2011-07-08Bibliographically approved

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Isaksson, Robert
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