NDLI: An adaptive control strategy for robotic cutting

Content Provider	IEEE Xplore Digital Library
Author	Zeng, G. Hemami, A.
Copyright Year	1997
Description	Author affiliation: Dept. of Electr. Eng., Ecole Polytech. de Montreal, Que., Canada (Zeng, G.)
Abstract	Automation of a cutting process requires a system that is able to perform a planned cutting work irrespective of the interaction forces experienced during this process. For a robotic cutter the controller must adjust the applied force exerted on the material to be cut, while complying with unknown environment restrictions and disturbances. In this paper the problem of cutting a media by a blade is investigated. Based on a learning philosophy and position and velocity errors feedback an algorithm for the control of such a process is presented. An adaptive position controller and a switching logical velocity controller ensure the cutting operation is performed along a desired path with a desired velocity, while a learning control strategy is employed to adjust the required cutting force. The latter is a force learning algorithm which uses the force feedback. The effectiveness of the presented control system is demonstrated by simulation results.
Starting Page	22
Ending Page	27
File Size	515864
Page Count	6
File Format	PDF
ISBN	0780336127
DOI	10.1109/ROBOT.1997.620010
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-04-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Adaptive control Force control Velocity control Robotics and automation Force feedback Automatic control Robot control Blades Error correction Programmable control
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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