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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Pagilla, P.R. Biao Yu |
| Copyright Year | 2001 |
| Description | Author affiliation: Sch. of Mech. & Aerosp., Oklahoma State Univ., Stillwater, OK, USA (Pagilla, P.R.) |
| Abstract | Adaptive control of robotic surface finishing processes such as deburring, grinding, chamfering and polishing is considered. In prior work (P.R. Pagilla and B. Yu, 2001), a dynamic model that describes the behavior of the robot for a complete surface finishing task was developed. A control scheme was also developed that enables stable transition of the robot from free motion to constrained motion on the surface. Emphasis is given to the constrained motion on the surface that includes motion control along the surface and force control normal to the surface. The focus of the paper is on two aspects. First, adaptation of the grinding coefficient that relates the normal and the tangential force on the surface is studied. Second, two types of constraint surfaces, straight and curved, are considered in the study. Experiments were conducted for a complete robot task for both types of surfaces. Experimental results show good tracking performance for both the surfaces with the proposed adaptive control design. Further, convergence of the grinding coefficient to a constant for both surfaces is observed. |
| Sponsorship | American Autom. Control Council |
| Starting Page | 630 |
| Ending Page | 635 |
| File Size | 573023 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780364953 |
| ISSN | 07431619 |
| DOI | 10.1109/ACC.2001.945617 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2001-06-25 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | American Automatic Control Council(AACC) |
| Subject Keyword | Adaptive control Robots Surface finishing Deburring Force control Manufacturing automation Robotics and automation Motion control Impedance Aerospace engineering |
| Content Type | Text |
| Resource Type | Article |
| Subject | Electrical and Electronic Engineering |
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