NDLI: Tuned dither for friction suppression during force-guided robotic assembly

Content Provider	IEEE Xplore Digital Library
Author	Ipri, S.L. Asada, H.
Copyright Year	1995
Description	Author affiliation: Dept. of Mech. Eng., MIT, Cambridge, MA, USA (Ipri, S.L.; Asada, H.)
Abstract	Friction and stick/slip phenomena are a major source of disturbance in assembly tasks, especially under low velocity or frequent start/stop conditions. These friction effects are highly nonlinear, dependent on environmental parameters, and the resulting forces are extremely difficult to model accurately under all conditions. This paper discusses frictional contacts in the context of robotic assembly based on the underlying physics of the phenomenon. A technique employing a high frequency dither is presented which reduces the effect of friction between parts in relative motion. The parameters of this dither are tuned on-line to account for changes in the operating conditions. This tuning algorithm adjusts the dither parameters based on force feedback measurements and a model for the desired forces. Analysis shows that a set of optimal parameters exists. Experimentation demonstrates the algorithm's success, even in the presence of uncertain or varying system model parameters. The discussion includes consideration of previous friction studies and combination with force-guided control.
Starting Page	310
Ending Page	315
File Size	641821
Page Count	6
File Format	PDF
ISBN	0818671084
DOI	10.1109/IROS.1995.525813
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-08-05
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Friction Robotic assembly Force feedback Force control Parameter estimation Mechanical engineering Force measurement Uncertainty Monitoring Mechanical systems
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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