NDLI: Grinding experiment by direct position / force control with on-line constraint estimation

Content Provider	IEEE Xplore Digital Library
Author	Guanghua Chen Minami, M. Geng Wang
Copyright Year	2009
Description	Author affiliation: Graduate School of Engineering, University of Fukui, Japan (Guanghua Chen; Minami, M.; Geng Wang)
Abstract	Based on the analyses of the interaction between a manipulator's hand and a working object, a model representing the constrained dynamics of the robot is first discussed. The constrained forces are expressed by an algebraic function of states, input generalized forces, and constraint condition, and then direct position / force controller without force sensor is proposed based on the algebraic relation. To give the grinding system the ability to adapt to any object shape being changed by itself, we added new estimating function of time-varying constraint condition in real time for the adaptive position / force control. Evaluations through simulations and real grinding experiments by fitting the changing constraint surface with spline functions, indicate that reliable position / force control and shape-grinding can be achieved by the proposed methodology.
Starting Page	3124
Ending Page	3129
File Size	396736
Page Count	6
File Format	PDF
ISBN	9784907764340
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-08-18
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	SICE
Subject Keyword	Force control Force sensors Surface fitting Manipulator dynamics Robot sensing systems Shape control Time varying systems Real time systems Programmable control Adaptive control Estimating function Constraint condition Direct position / force controller without force sensor
Content Type	Text
Resource Type	Article

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