Abstract
This research aims to achieve a new grinding robot system that can grind an object into desired shape with force-sensorless feed-forward control. In order to grind the target object into desired shape with sufficient accuracy, the hand of the robot arm have to generate desired constrained force immediately after the grindstone being contacted with the metal object to be ground. However, a time delay arises in the transition of constrained force while the hand of a robot arm generates desired constrained force stemming from a first-order time delay caused by dynamics in motors. This paper suggests some methods how to improve transient response of constrained force that influences shape-grinding accuracy directly. Results observed by real grinding experiment have confirmed how our proposed method effectively improved to shorten the time delay of constrained force.
| Original language | English |
|---|---|
| Title of host publication | 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 |
| Pages | 710-715 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2013 |
| Event | 2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 - Takamastu, Japan Duration: Aug 4 2013 → Aug 7 2013 |
Other
| Other | 2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 |
|---|---|
| Country | Japan |
| City | Takamastu |
| Period | 8/4/13 → 8/7/13 |
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Keywords
- constrained force
- force-sensorless grinding
- robot
ASJC Scopus subject areas
- Artificial Intelligence
- Electrical and Electronic Engineering
- Mechanical Engineering
Cite this
Improvement of dynamic characteristics during transient response of force-sensorless grinding robot by force/position control. / Adachi, Ken; Minami, Mamoru; Yanou, Akira.
2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013. 2013. p. 710-715 6618003.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Improvement of dynamic characteristics during transient response of force-sensorless grinding robot by force/position control
AU - Adachi, Ken
AU - Minami, Mamoru
AU - Yanou, Akira
PY - 2013
Y1 - 2013
N2 - This research aims to achieve a new grinding robot system that can grind an object into desired shape with force-sensorless feed-forward control. In order to grind the target object into desired shape with sufficient accuracy, the hand of the robot arm have to generate desired constrained force immediately after the grindstone being contacted with the metal object to be ground. However, a time delay arises in the transition of constrained force while the hand of a robot arm generates desired constrained force stemming from a first-order time delay caused by dynamics in motors. This paper suggests some methods how to improve transient response of constrained force that influences shape-grinding accuracy directly. Results observed by real grinding experiment have confirmed how our proposed method effectively improved to shorten the time delay of constrained force.
AB - This research aims to achieve a new grinding robot system that can grind an object into desired shape with force-sensorless feed-forward control. In order to grind the target object into desired shape with sufficient accuracy, the hand of the robot arm have to generate desired constrained force immediately after the grindstone being contacted with the metal object to be ground. However, a time delay arises in the transition of constrained force while the hand of a robot arm generates desired constrained force stemming from a first-order time delay caused by dynamics in motors. This paper suggests some methods how to improve transient response of constrained force that influences shape-grinding accuracy directly. Results observed by real grinding experiment have confirmed how our proposed method effectively improved to shorten the time delay of constrained force.
KW - constrained force
KW - force-sensorless grinding
KW - robot
UR - http://www.scopus.com/inward/record.url?scp=84887951394&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84887951394&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2013.6618003
DO - 10.1109/ICMA.2013.6618003
M3 - Conference contribution
AN - SCOPUS:84887951394
SN - 9781467355582
SP - 710
EP - 715
BT - 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
ER -