Sensor-based robot transition control strategy

This article presents a real-time sensor-based control approach to the manipulation of the transition of a robot from free space motion to contact with an environment. Use is made of external sensors, including proximity sensors and a force sensor at the end effector of the robot, to control the interaction between the robot and its environment. To achieve direct robot end-effector position control, a short-range fiber optic proximity sensor is used. A multi-phase control strategy is proposed that includes an approach phase, where a force control scheme is used prior to contact, as well as a proximity phase where the proximity sensor-based control is employed. Implementation results carried out on an industrial robot are reported.