Continuous shape-grinding experiment based on constraint-combined force / position hybrid control method

Hiro Tanimoto, Mamoru Minami, Akira Yanou, Masaki Takebayashi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

Based on the analysis of the interaction between a manipulator's hand and a working object, a model representing the constrained dynamics of the robot is first discussed. The constraint forces are expressed by an algebraic function of states, input generalized forces, and constraint condition, and then direct position / force controller without force sensor is proposed based on the algebraic relation. To give the grinding system the ability to adapt to any object shape being changed by the grinding, we added estimating function of the constraint condition in real time for the adaptive position / force control, which is indispensable for our method instead of not using force sensor. Evaluations through continuous shape-grinding experiment by fitting the changing constraint surface with spline functions, indicates that reliable position / force control and shape-grinding work can be achieved by this proposed controller.

Original languageEnglish
Title of host publication2012 IEEE/SICE International Symposium on System Integration, SII 2012
Pages464-469
Number of pages6
DOIs
Publication statusPublished - Dec 1 2012
Event2012 IEEE/SICE International Symposium on System Integration, SII 2012 - Fukuoka, Japan
Duration: Dec 16 2012Dec 18 2012

Publication series

Name2012 IEEE/SICE International Symposium on System Integration, SII 2012

Other

Other2012 IEEE/SICE International Symposium on System Integration, SII 2012
CountryJapan
CityFukuoka
Period12/16/1212/18/12

ASJC Scopus subject areas

  • Information Systems

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    Tanimoto, H., Minami, M., Yanou, A., & Takebayashi, M. (2012). Continuous shape-grinding experiment based on constraint-combined force / position hybrid control method. In 2012 IEEE/SICE International Symposium on System Integration, SII 2012 (pp. 464-469). [6427277] (2012 IEEE/SICE International Symposium on System Integration, SII 2012). https://doi.org/10.1109/SII.2012.6427277