Automatic control of an orthogonal-type robot with a force sensor and a small force input device

Fusaomi Nagata, Sho Yoshitake, Akimasa Otsuka, Keigo Watanabe, Maki K. Habib

研究成果

1 被引用数 (Scopus)

抄録

In this paper, an automatic control system with a force sensor and a small force input device is presented for an orthogonal-type robot. The automatic control system is composed of a force feedback loop, a position feedback loop and a position feedforward loop. The force feedback loop controls the resultant force consisting of tool contact force and kinetic friction forces. The stability criterion of the force control system is briefly discussed. In addition, the position feedback loop controls the position in only pick feed direction. The position feedforward loop guides the tool tip along a desired trajectory called cutter location data (CL data), in which the feed rate is suitably generated by a fuzzy reasoning according to each model's curvature. Furthermore, a fine stick-slip motion control strategy is added to improve the lapping efficiency. The fine stick-slip motion is orthogonally generated to the direction of tool movement. Finally, a force input device is designed to enable an operator to manually regulate the desired feed rate or the desired polishing force. The force input device allows the robot to realize cooperative motion between the automatic control and the manual control reflecting operator's skill. The effectiveness of robot's performance is examined through experiments.

本文言語English
ホスト出版物のタイトルProceedings
ホスト出版物のサブタイトルIECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society
ページ3270-3275
ページ数6
DOI
出版ステータスPublished - 2011
イベント37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011 - Melbourne, VIC
継続期間: 11月 7 201111月 10 2011

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

Other37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011
国/地域Australia
CityMelbourne, VIC
Period11/7/1111/10/11

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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