Research on Grinding Robot for Trajectory Control Based on Computed Torque

Tong Ying Guo; Jie Jia Li; Hai Chen Wang

doi:10.4028/www.scientific.net/AMM.58-60.2392

Paper Titles

Automatic Segmentation of the Skull in MRI Sequences Using Level Set Method
p.2370

The Research of Non-Uniformity Correction of Infrared Image in Thermal Wave Testing Based on Homomorphism Technology
p.2376

Detecting Local Illumination Using Skewness of Oriented Gradients from a Single Image
p.2381

Natural Image Classification Based on Improved Support Vector Machine
p.2387

Research on Grinding Robot for Trajectory Control Based on Computed Torque
p.2392

Development and Application of the Human Visual Using Image Tracking System
p.2396

Information Processing of the Broken Tape of Flight Data Recorder
p.2402

Design Methodology of Automation Equipment and Control System in the Intelligent Assembly Cell
p.2407

Study on Measurement of Snap Ring Grooves in Front Cylinder Head of Compressor and Gauge Detection
p.2413

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 58-60Research on Grinding Robot for Trajectory Control...

Research on Grinding Robot for Trajectory Control Based on Computed Torque

Abstract:

In this paper, in order to achieve high-precision trajectory control of grinding robot, the method of computed torque control is proposed based on PD feedback, a single-joint robot experimental platform was built, position and velocity tracking experiment is carried out with empty Load and load. Experimental results show that the method of computed torque based on PD feedback control has the characteristic of quick response speed and small position tracking error.

You might also be interested in these eBooks

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volumes 58-60)

Pages:

2392-2395

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.58-60.2392

Citation:

Cite this paper

Online since:

June 2011

Authors:

Tong Ying Guo, Jie Jia Li, Hai Chen Wang

Keywords:

Computed Torque, Dynamic, Grinding, PD Feedback, Robot

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] M. J. Tsai, et al. Development of an Automatic Mold Grinding System. Proc. of the IEEE Int. Con. on Robotic& Automation, 2003: 3517–3522.

Google Scholar

[2] Y. T. Wang, et al. Path Planning for Robot-Assisted Grinding Process. Proc. of the IEEE Int. Conf. on Robotics & Automation, 2001: 331-336.

Google Scholar

[3] F. Nagata, et al. Grinding Robot Using a Joystick Controlled Teaching. Journal of Robotics and Mechanism. 2002, 13(5): 517-525.

Google Scholar

[4] T. Y. Guo, D. K. Qu. Research on Path Planning for Grinding Robot Based on Improved Genetic Algorithm. Proc. of the ROBIO conference, 2004: 300- 305.

Google Scholar

[5] V. Santibanez, R. Kelly. Global. Asymptotic Stability of a Tracking Fuzzy Controller for Robot Manipulators. IEEE Trans. on systems man and cybernetics. 2004, 1.

DOI: 10.1109/tsmcb.2003.811764

Google Scholar