Continuous shape-grinding experiment based on model-independent force/position hybrid control method with on-line spline approximation

Akira Yanou, Mamoru Minami, Hiro Tanimoto

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

Based on the analysis of interaction between manipulator's hand and working object, a model representing the constrained dynamics of robot is first discussed. The constraint forces are expressed by algebraic function of states, input generalized forces, and constraint condition, and then a decoupling control method of force and position of manipulator's hand tip is proposed. In order to give the grinding system the ability to adapt to any object shape being changed by the grinding, estimating function of the constraint condition in real time for the adaptive force/position control was added, which is indispensable for the proposed method without using force sensor. This paper explores whether the performance of the proposed controller is independent of alloy work-piece models or not. The experimental result is shown to verify the feature of the decoupling control of force and position of the tip.

Original languageEnglish
Pages (from-to)219-227
Number of pages9
JournalArtificial Life and Robotics
Volume18
Issue number3-4
DOIs
Publication statusPublished - 2013

Fingerprint

Splines
Manipulators
Hand
Force control
Position control
Experiments
Robots
Controllers
Sensors

Keywords

  • Continuous shape-grinding
  • Force/position hybrid control
  • Model-independent control
  • Spline approximation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biochemistry, Genetics and Molecular Biology(all)

Cite this

Continuous shape-grinding experiment based on model-independent force/position hybrid control method with on-line spline approximation. / Yanou, Akira; Minami, Mamoru; Tanimoto, Hiro.

In: Artificial Life and Robotics, Vol. 18, No. 3-4, 2013, p. 219-227.

Research output: Contribution to journalArticle

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