FORCE CONTROL FOR ROBOTIC DEBURRING

被引：23

作者：

BONE, GM ^{[1
]}

ELBESTAWI, MA ^{[1
]}

LINGARKAR, R ^{[1
]}

LIU, L ^{[1
]}

机构：

[1] MCMASTER UNIV,DEPT MECH ENGN,HAMILTON L8S 4L7,ONTARIO,CANADA

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 1991年 / 113卷 / 03期

关键词：

D O I：

10.1115/1.2896423

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An active end effector based force control system for robotic deburring is successfully implemented using a PUMA-560 robot. The system goal of a controlled chamfer depth with minimum surface roughness is achieved by minimizing the normal chamfering force variance online. Several force control algorithms are evaluated based on this objective. The control laws are designed based on models combining a deterministic plant with a stochastic disturbance which are identified from experimental data. Simulation results are verified by real-time force control experiments. Performance comparisons are made based on the force variance and surface roughness achieved by each controller. The 6 step extended horizon controller is shown to achieve the best overall performance.

引用

页码：395 / 400

页数：6

共 24 条

[1]

Astrom K.J., 2013, ADAPTIVE CONTROL

[2]

BNE GM, 1991, ROBOTICS COMPUTER IN, V8, P87

[3] ROBOTIC FORCE CONTROL FOR DEBURRING USING AN ACTIVE END EFFECTOR [J].

BONE, GM ;

ELBESTAWI, MA .

ROBOTICA, 1989, 7 :303-308

[4]

BONE GM, 1989, APR P IFAC C AD SYST, P311

[5]

BONE GM, 1988, THESIS MCMASTER U HA

[6]

GILLESPIE LK, 1987, ROBOTIC DEBURING HDB

[7]

HAEFNER KB, 1986, ROBOTICS THEORY DSC, V3, P73

[8]

HOLLOWELL R, 1987, MODELING CONTROL DSC, V6, P73

[9]

HOLOWELL R, 1989, 3RD P ANS TOP M ROB, P1

[10]

ISERMANN R, 1977, DIGITAL CONTROL SYST

← 1 2 3 →