### Abstract

On the basis of an analysis of the interaction between a manipulator for grinding process and a working object in the task space, motions of the constrained dynamic system of the robot is modeled first in this paper. In the model, the constrained forces are included and expressed as an algebraic function of the state and input generalized forces by using the equation of constraints. Using this result, a control law is proposed by taking the advantage of the redundancy of input generalized forces to the constrained forces. A controller for the grinding robot is then constructed according to this control law and without involving any force sensors. Real experiments have been done for evaluating the feasibility of the controller by taking an articulated planar two-link manipulator as an example. Results show the effectivenesses of the proposed controller for real grinding task.

Original language | English |
---|---|

Pages (from-to) | 624-631 |

Number of pages | 8 |

Journal | Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |

Volume | 71 |

Issue number | 2 |

Publication status | Published - Feb 2005 |

Externally published | Yes |

### Fingerprint

### Keywords

- Constraint
- Force Control
- Manipulator
- Measurment and Control
- Mechatronics and Robotics
- Robot
- Sensor

### ASJC Scopus subject areas

- Mechanical Engineering

### Cite this

**Research of grinding robot without force sensor by using : Algebraic equation.** / Ikeda, Takeshi; Minami, Mamoru.

Research output: Contribution to journal › Article

*Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C*, vol. 71, no. 2, pp. 624-631.

}

TY - JOUR

T1 - Research of grinding robot without force sensor by using

T2 - Algebraic equation

AU - Ikeda, Takeshi

AU - Minami, Mamoru

PY - 2005/2

Y1 - 2005/2

N2 - On the basis of an analysis of the interaction between a manipulator for grinding process and a working object in the task space, motions of the constrained dynamic system of the robot is modeled first in this paper. In the model, the constrained forces are included and expressed as an algebraic function of the state and input generalized forces by using the equation of constraints. Using this result, a control law is proposed by taking the advantage of the redundancy of input generalized forces to the constrained forces. A controller for the grinding robot is then constructed according to this control law and without involving any force sensors. Real experiments have been done for evaluating the feasibility of the controller by taking an articulated planar two-link manipulator as an example. Results show the effectivenesses of the proposed controller for real grinding task.

AB - On the basis of an analysis of the interaction between a manipulator for grinding process and a working object in the task space, motions of the constrained dynamic system of the robot is modeled first in this paper. In the model, the constrained forces are included and expressed as an algebraic function of the state and input generalized forces by using the equation of constraints. Using this result, a control law is proposed by taking the advantage of the redundancy of input generalized forces to the constrained forces. A controller for the grinding robot is then constructed according to this control law and without involving any force sensors. Real experiments have been done for evaluating the feasibility of the controller by taking an articulated planar two-link manipulator as an example. Results show the effectivenesses of the proposed controller for real grinding task.

KW - Constraint

KW - Force Control

KW - Manipulator

KW - Measurment and Control

KW - Mechatronics and Robotics

KW - Robot

KW - Sensor

UR - http://www.scopus.com/inward/record.url?scp=18344365810&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=18344365810&partnerID=8YFLogxK

M3 - Article

AN - SCOPUS:18344365810

VL - 71

SP - 624

EP - 631

JO - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

JF - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

SN - 0387-5024

IS - 2

ER -