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

Weiwei Xu, Guanghua Chen, Mamoru Minami

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

1 Citation (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 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.

Original languageEnglish
Title of host publicationProceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
Pages2534-2539
Number of pages6
DOIs
Publication statusPublished - 2008
EventSICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology - Tokyo, Japan
Duration: Aug 20 2008Aug 22 2008

Publication series

NameProceedings of the SICE Annual Conference

Other

OtherSICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
CountryJapan
CityTokyo
Period8/20/088/22/08

Keywords

  • Constraint condition
  • Direct position / force controller without force sensor
  • Estimating function

ASJC Scopus subject areas

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

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  • Cite this

    Xu, W., Chen, G., & Minami, M. (2008). Shape-grinding by direct position / force control with on-line constraint estimation. In Proceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology (pp. 2534-2539). [4655092] (Proceedings of the SICE Annual Conference). https://doi.org/10.1109/SICE.2008.4655092