TY - GEN
T1 - Position/force control of grinding robot by using real-time presumption of constrained condition
AU - Xu, Weiwei
AU - Minami, Mamoru
AU - Mae, Yasushi
PY - 2007
Y1 - 2007
N2 - Based on the analysis of the interaction between a manipulator for grinding process and a working object in the task space, a model representing the constrained dynamics of the robot is first presented. In the model, the constrained forces are denoted as an algebraic function of states and input generalized forces by using the equation of constraints. Using the result, a new sensorless force control law is proposed based on the redundancy of the input generalized forces to the constrained ones. A controller for a grinding robot, including a estimation mechanism for changable constraints by grinding, is constructed according to the control law not to involve any force sensor. Simulations have been done for evaluating the feasibility of the controller by fitting respectively the constraint surface with linear function, quadratic function and spline curve. Simulated results indicate that the spline curve fitting is the closest to the real constraint surface.
AB - Based on the analysis of the interaction between a manipulator for grinding process and a working object in the task space, a model representing the constrained dynamics of the robot is first presented. In the model, the constrained forces are denoted as an algebraic function of states and input generalized forces by using the equation of constraints. Using the result, a new sensorless force control law is proposed based on the redundancy of the input generalized forces to the constrained ones. A controller for a grinding robot, including a estimation mechanism for changable constraints by grinding, is constructed according to the control law not to involve any force sensor. Simulations have been done for evaluating the feasibility of the controller by fitting respectively the constraint surface with linear function, quadratic function and spline curve. Simulated results indicate that the spline curve fitting is the closest to the real constraint surface.
KW - Force control
KW - Grinding robot
KW - Manipulator
KW - Measurment
KW - Simulation
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U2 - 10.1109/SICE.2007.4421289
DO - 10.1109/SICE.2007.4421289
M3 - Conference contribution
AN - SCOPUS:50249110739
SN - 4907764286
SN - 9784907764289
T3 - Proceedings of the SICE Annual Conference
SP - 1861
EP - 1868
BT - SICE Annual Conference, SICE 2007
T2 - SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007
Y2 - 17 September 2007 through 20 September 2007
ER -