NDLI: Adaptive control of deburring robots based on human demonstration data

Content Provider	IEEE Xplore Digital Library
Author	Liu, S. Asada, H.
Copyright Year	1992
Description	Author affiliation: Dept. of Mech. Eng., MIT, Cambridge, MA, USA (Liu, S.; Asada, H.)
Abstract	An adaptive controller for deburring robots is presented. The adaptation mechanism that updates the controller parameters is designed based on a set of teaching data taken from human demonstrations. The relationship between what a human monitors in a deburring process and how the human responds to variations in the task process is described as an associative mapping. This associative mapping can be recovered from human teaching data. The consistency of the mapping relation is analyzed by using Lipschitz's condition. The associative mapping is used in this new adaptive controller as the scheme to compute and update control parameters based on burr characteristics. To take into account the surface finish of the workpiece as an explicit control objective, an integral feedback scheme is used. The control system is implemented on a direct drive robot. Experimental results show that the robot can adapt to the deburring process in a manner very similar to a human worker. With the use of an integral feedback action, the smoothness of the surface finish can be greatly improved.
Starting Page	946
Ending Page	952
File Size	680423
Page Count	7
File Format	PDF
ISBN	0780305825
DOI	10.1109/IECON.1992.254478
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1992-11-13
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Adaptive control Deburring Humans Education Educational robots Service robots Robot sensing systems Robot control Control systems Feedback
Content Type	Text
Resource Type	Article

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