Research on Velocity Servo-Based Hybrid Position/Force Control Scheme for a Grinding Robot

Qing Wei Zhang; Li Li Han; Fang Xu; Kai Jia

doi:10.4028/www.scientific.net/AMR.490-495.589

Paper Titles

Sample Classification Algorithm Based on Spectral Similarity Calculation
p.568

Study on MRAC Strategy of Suspension System Based on Magneto-Rheological Fluid Damper
p.573

Research on Regulating of Engine Cooling Intensity with Fuzzy Control
p.578

Signal Extraction Based on an Improved EMD Method
p.583

Research on Velocity Servo-Based Hybrid Position/Force Control Scheme for a Grinding Robot
p.589

Study on Novel Automatic Steel Bundling Machine Pneumatic Control System
p.594

Sensor of Measuring Containing Water Ratio in Crude Oil Based on Multi-Electrode Capacitance
p.598

Simulation on Composite Backscattering from Rough Surface with Target above it
p.603

Simulation Research on Networked Control System Based on NS-2
p.608

HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 490-495Research on Velocity Servo-Based Hybrid...

Research on Velocity Servo-Based Hybrid Position/Force Control Scheme for a Grinding Robot

Abstract:

In this paper, a velocity servo-based hybrid position/force control scheme for a grinding robot is presented. It simultaneously performs stable force control and exact position control along curved surface for a grinding robot. The force feedback loop changing the force to velocity, which will be used in the velocity servo-based robot, can control the force directly and has a faster response. The position feedback loop controls the grinding tool in a desired trajectory in Cartesian space. An overview of the control algorithm as well as the force data signal processing and the communication between force sensor and robot controller is described.

You might also be interested in these eBooks

Mechatronics and Intelligent Materials II

View Preview

Info:

Periodical:

Advanced Materials Research (Volumes 490-495)

Pages:

589-593

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.490-495.589

Citation:

Cite this paper

Online since:

March 2012

Authors:

Qing Wei Zhang, Li Li Han, Fang Xu, Kai Jia

Keywords:

Grinding Robot, Hybrid Position/Force Control, Robotics, Velocity Servo

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] B. Siciliano and L. Villani: Robot Force Control. Kluwer Academic Publishers, Boston, MA, (1999).

Google Scholar

[2] T. Yoshikawa: Force control of robot manipulators. In Proc. of IEEE Int. Conf. on Robotics and Automation, San Francisco, USA, pp.220-226, (2000).

Google Scholar

[3] J. N. Pires, G. Afonso, and N. Estrela: Force control experiments for industrial applications: a test case using an industrial deburring example. Assembly Automation, vol. 27, no. 2, pp.148-156, (2007).

DOI: 10.1108/01445150710733414

Google Scholar

[4] M. Jinno: Development of a Force Controlled Robot for Grinding, Chamfering and Polishing. In Proc. of IEEE Int. Conf. on Robotics and Automation, Nagoya, Japan, pp.1455-1460, (1995).

DOI: 10.1109/robot.1995.525481

Google Scholar

[5] J. N. Pires, J. Ramming, S. Rauch, and R. Araujo: Force/torque Sensing applied to Industrial Robotic Deburring, Sensor Review Journal, vol. 22, no. 2, pp.232-241, (2002).

DOI: 10.1108/02602280210433070

Google Scholar