TY - GEN
T1 - Position/force control of a manipulator by using an algebraic relation and evaluations by experiments
AU - Ikeda, T.
AU - Minami, M.
PY - 2003
Y1 - 2003
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. Simulations and 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 that the constrained force is explicitly controlled with proposed control law in simulations and the effectiveness of the controller for real grinding task, have been verified.
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. Simulations and 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 that the constrained force is explicitly controlled with proposed control law in simulations and the effectiveness of the controller for real grinding task, have been verified.
KW - Automatic control
KW - Computer integrated manufacturing
KW - Design engineering
KW - Equations
KW - Force control
KW - Force sensors
KW - Motion analysis
KW - Robot sensing systems
KW - Robotics and automation
KW - Systems engineering and theory
UR - http://www.scopus.com/inward/record.url?scp=33646206962&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33646206962&partnerID=8YFLogxK
U2 - 10.1109/AIM.2003.1225146
DO - 10.1109/AIM.2003.1225146
M3 - Conference contribution
AN - SCOPUS:33646206962
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 503
EP - 508
BT - Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
Y2 - 20 July 2003 through 24 July 2003
ER -