Shape-grinding by direct position / force control with on-line constraint estimation

Mamoru Minami, Weiwei Xu

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

14 Citations (Scopus)

Abstract

Based on the analysis of the interaction between a manipulator's hand and a working object, a model representing the constrained dynamics of the robot is first discussed. The constrained forces are expressed by an algebraic function of states, input generalized forces, and constraint condition, and then direct position / force controller without force sensor is proposed based on the algebraic relation. To give the grinding system the ability to adapt to any object shape being changed by the grinding, we added estimating function of the constraint condition in real time for the adaptive position / force control. Evaluations through simulations by fitting the changing constraint surface with spline functions, indicate that reliable position / force control and shape-grinding can be achieved by the proposed controller.

Original languageEnglish
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages943-948
Number of pages6
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
Duration: Sep 22 2008Sep 26 2008

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
CountryFrance
CityNice
Period9/22/089/26/08

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Minami, M., & Xu, W. (2008). Shape-grinding by direct position / force control with on-line constraint estimation. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 943-948). [4650784] https://doi.org/10.1109/IROS.2008.4650784