Improvement of dynamic characteristics during transient response of force-sensorless grinding robot by force/position control

Ken Adachi, Mamoru Minami, Akira Yanou

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

1 Citation (Scopus)

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 languageEnglish
Title of host publication2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
Pages710-715
Number of pages6
DOIs
Publication statusPublished - 2013
Event2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 - Takamastu, Japan
Duration: Aug 4 2013Aug 7 2013

Other

Other2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
CountryJapan
CityTakamastu
Period8/4/138/7/13

Fingerprint

Force control
Position control
Transient analysis
Time delay
Robots
End effectors
Feedforward control
Metals
Experiments

Keywords

  • constrained force
  • force-sensorless grinding
  • robot

ASJC Scopus subject areas

  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Adachi, K., Minami, M., & Yanou, A. (2013). Improvement of dynamic characteristics during transient response of force-sensorless grinding robot by force/position control. In 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 (pp. 710-715). [6618003] https://doi.org/10.1109/ICMA.2013.6618003

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 proceedingConference contribution

Adachi, K, Minami, M & Yanou, A 2013, Improvement of dynamic characteristics during transient response of force-sensorless grinding robot by force/position control. in 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013., 6618003, pp. 710-715, 2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013, Takamastu, Japan, 8/4/13. https://doi.org/10.1109/ICMA.2013.6618003
Adachi K, Minami M, Yanou A. Improvement of dynamic characteristics during transient response of force-sensorless grinding robot by force/position control. In 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013. 2013. p. 710-715. 6618003 https://doi.org/10.1109/ICMA.2013.6618003
Adachi, Ken ; Minami, Mamoru ; Yanou, Akira. / Improvement of dynamic characteristics during transient response of force-sensorless grinding robot by force/position control. 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013. 2013. pp. 710-715
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