TY - GEN
T1 - Shape-grinding by direct position / force control with on-line constraint estimation
AU - Xu, Weiwei
AU - Chen, Guanghua
AU - Minami, Mamoru
PY - 2008
Y1 - 2008
N2 - 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 itself, we added new estimating function of time-varying 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.
AB - 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 itself, we added new estimating function of time-varying 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.
KW - Constraint condition
KW - Direct position / force controller without force sensor
KW - Estimating function
UR - http://www.scopus.com/inward/record.url?scp=56749158767&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=56749158767&partnerID=8YFLogxK
U2 - 10.1109/SICE.2008.4655092
DO - 10.1109/SICE.2008.4655092
M3 - Conference contribution
AN - SCOPUS:56749158767
SN - 9784907764296
T3 - Proceedings of the SICE Annual Conference
SP - 2534
EP - 2539
BT - Proceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
T2 - SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
Y2 - 20 August 2008 through 22 August 2008
ER -