Research of grinding robot without force sensor by using: Algebraic equation

Takeshi Ikeda, Mamoru Minami

Research output: Contribution to journalArticlepeer-review

11 Citations (Scopus)


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 languageEnglish
Pages (from-to)624-631
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number2
Publication statusPublished - Feb 2005
Externally publishedYes


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

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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