Position/force control of grinding robot by using real-time presumption of constrained condition

Weiwei Xu, Mamoru Minami, Yasushi Mae

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

4 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationSICE Annual Conference, SICE 2007
Pages1861-1868
Number of pages8
DOIs
Publication statusPublished - Dec 1 2007
Externally publishedYes
EventSICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007 - Takamatsu, Japan
Duration: Sep 17 2007Sep 20 2007

Publication series

NameProceedings of the SICE Annual Conference

Other

OtherSICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007
CountryJapan
CityTakamatsu
Period9/17/079/20/07

Keywords

  • Force control
  • Grinding robot
  • Manipulator
  • Measurment
  • Simulation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Xu, W., Minami, M., & Mae, Y. (2007). Position/force control of grinding robot by using real-time presumption of constrained condition. In SICE Annual Conference, SICE 2007 (pp. 1861-1868). [4421289] (Proceedings of the SICE Annual Conference). https://doi.org/10.1109/SICE.2007.4421289