Improvement of force-sensorless grinding accuracy with resistance compensation

Atsushi Sato, Keli Shen, Mamoru Minami, Takayuki Matsuno

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)

Abstract

This research aims to achieve a new grinding robot system that can grind an object into desired shape with force-sensorless control. In order to grind the target object into desired shape with sufficient accuracy, the hand of the robot arm has to generate desired constrained force immediately after the grindstone being contacted with the metal object to be ground. Based on the algebraic equation, we have proposed constraint-combined force controller, which has the ability to achieve the force control without time delay if the motors should ideally generate required torques without time delay. In this paper, the relation between contacting force and grinding resistance force have been derived analytically and the relation is used for grinding force control, having brought improved grinding force accuracy.

Original languageEnglish
Pages (from-to)1-6
Number of pages6
JournalArtificial Life and Robotics
DOIs
Publication statusAccepted/In press - Aug 17 2017

Keywords

  • Force control
  • Force-sensorless
  • Grinding
  • Robot

ASJC Scopus subject areas

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

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