Papers by Keyword: Force Control

Abstract: The magnetorheological (MR) damper is the newest approach to replace the traditional passive damper which cannot change their dynamics in response to different operating conditions of the aircraft landing gear. This paper presents the simulation study of a semi-active controller for a landing gear equipped MR damper. Furthermore, a new method combined skyhook control with force control, called hybrid control, is developed to improve the performance of the MR damper landing gear. Finally, the numerical simulation result of the landing gear using SIMSCAPE-Simulink is discussed.

Abstract: Because hydraulic actuator has higher power and force density, it is normally used in heavy load manipulator robots and industrial equipment which require high torque. Also, the hydraulic actuator is applied to underwater robots that need high performance maneuver in underwater operations. The force control has benefits to those kind of robots to ensure compliance with user or environment. However, the hydraulic actuator is difficult to control forces due to the non-linearity characteristic of the hydraulic servo system. In this paper, we propose a force control method with compensation of force derivative and natural velocity feedback. We also describe a method of applying it to the real system. In order to evaluate the effect of the proposed control method, the simulations and experiments were performed.

Abstract: Robotic automation of industrial processes in terms of the adaptation of the robot path to changing external conditions has recently been one of the main subjects of research and implementation studies. The presented study involved trailing plane grinding the turbine blades. The suggested automated station comprises an IRB 140 robot handling the processed element, grinding tool and an IRB 1600 robot with a 3D scanning head installed. The presented robotic automation solutions may be used for finishing operations on blades constituting elements of aircraft engines, power generating turbines and wind turbines.

Abstract: To assemble easily damaged micro-parts safely in interference fit way, the assembly process is designed and the interaction force in assembly process is analyzed. The pose of micro-parts is aligned based on calibration of three microscopic vision systems from different directions. In addition, a control strategy based on feedback of vision and force is proposed to assemble safely. In the case of two micro-parts just contact, position of micro-part is adjusted based on force information to compensate pose alignment error and keep force in safe range. When micro-part is deformed as increased contact force, position of micro-part is adjusted based on force in the interference fit process and deformation of micro-part. Experimental results demonstrate the effectiveness of proposed methods.

Abstract: Human as a varying dynamic system, the control strategies of human-robot interacts differ significantly from that of conventional industrial robot. Considered the patient-centered exercise regimens, a force control method based predict is presented to control a lower limb rehabilitation robot. The control law is introduced that optimises the the maintained force level and limits excessive forceto injury the subject's lower extremity joints. Simulation results show that the robot could guide thelower limb of subjects to move under predefined model of the external force.

Abstract: This paper presents an application of a robotic manipulator in a machining process. Due to the specifics of the process and numerous phenomena which are difficult to be modelled, suitable tool for the robot control are neural networks. This work concentrates on the robot control process. A synthesis of a neural position/force control algorithm is presented. The algorithm was tested by simulation and in actual conditions on a laboratory stand. The work presents the experimental results with their comparison with an adaptive method based on the robot’s mathematical model.

Abstract: This papers studies the use of robots in the green machining of ceramics, specifically, the machining of high alumina porcelain insulators. The green state has very low strength and high brittleness where the forces applied during machining can generate and/or develop defects in the part that will reduce their properties after sintering. This work aims to study the machining by robot models of electrical insulators in 1:10 scale. Blanks were compacted in high alumina porcelain by isostatic pressing and green machined with a manual grinder attached to a Kuka KR16 robot. Models of insulators in gypsum were successfully machined and used for setup and configuration of the process. They were machined with cutting depth 0.87 mm and feed of 20 mm/s, this is the minimum programmable velocity for this robot model, and these parameters for the machining of the green porcelain generated excessive cracks at the tips of the fins. Changing the cutting depth to values of 0.25 mm, an established value in CNC machining, allowed to conclude that insufficient stiffness of the robot together with its high forward speed and excessive vibration of the grinding limits its use for thin thicknesses, although with potential for improvement.

Abstract: This paper considers the design of switch module. It is a key part of intelligent control emergency power supply. The working reliability of the switch module is an important performance index. Firstly, paper according to the characteristics that watchdog microprocessor software vulnerabilities and a control state to maintain after crash recovery, the design software reset and hardware reset propose two solutions. Next, data acquisition and data communications hardware are using photoelectric isolation technology. To achieve true electrical isolation, the system uses three power supply witch are electrically independent. And then, module data communication protocol used MODBUS_RTU, and design force control configuration software debugging interface. Finally, Experimental verification of the software programs and hardware circuit correctness and reliability. Module design reflects the improved anti-jamming capability, while more suitable for general purpose, industrialization and production.

Abstract: In this paper are presented aspects concerning the master-slave method of cooperation in order to manipulate rigid objects with two industrial robots. The goal of this paper is to present the strategies of manipulation of an rigid object when one robot is completely manipulated by the other one . With the method presented in this paper the programing tim e of the robots is much shorter . Also are presented different method and technology putted together and result only one complete SCADA system.

Abstract: In gas turbines and turbo jet engines, high performance materials such as nickel-based alloys are widely used for blades and vanes. In the case of repair, finishing of complex turbine blades made of high performance materials is carried out predominantly manually. The repair process is therefore quite time consuming. And the costs of presently available repair strategies, especially for integrated parts, are high, due to the individual process planning and great amount of manually performed work steps. Moreover, there are severe risks of partial damage during manually conducted repair. All that leads to the fact that economy of scale effects remain widely unused for repair tasks, although the piece number of components to be repaired is increasing significantly. In the future, a persistent automation of the repair process chain should be achieved by developing adaptive robot assisted finishing strategies. The goal of this research is to use the automation potential for repair tasks by developing a technology that enables industrial robots to re-contour turbine blades via force controlled belt grinding.