Active Compliant Motion Control for Grinding Robot
نویسندگان
چکیده
A grinding robot system is presented in this paper. Active compliant motion control is applied to keep contacting between grinding tool and work pieces and auto surface tracking algorithm was developed to trace the outline of work-pieces. For real implementation of the system, the shape of work pieces are informed through barcode and the piece’s dimension is measured with a laser distance sensor. Experimental results with the implemented system are also presented and discussions for further works are followed.
منابع مشابه
Rapid On-Line Learning of Compliant Motion for Two-Arm Coordination
To enable a two-arm manipulator system to perform complex cooperating tasks such as carrying a rigid object, establishing a contact to a surface, grinding, etc., a nonlinear multiple input system should be solved. We apply an approach to on-line automatic learning of a B-spline fuzzy controller. This controller model directly connects the sensor inputs to the compensation motion. By using the a...
متن کاملTwo-Arm Coordination Control by Learning on a B -Spline Model
To enable a two -arnt manipulator system to perform complex cooperating tasks such as carrying ci rigid object, establishing a contact to a surface, grinding, etc ., a nonlinear multiple input system should be solved. We apply an approach to on line automatic learning of a B-spline fuzzy controller: This controller model directly connects the sensor inputs to the compensation motion. By using t...
متن کاملA Novel Approach for Solving Compliant Motion of Robot Manipulators
This paper presents new concept for controlling manipulators in compliant motion tasks. Compliant motion requires interaction control strategies governed by indirect force control (Compliance and Impedance control) or direct force control. Impedance control and compliant behavior for safe human-robot physical interaction of industrial robots, normally can be achieved by using active compliance ...
متن کاملCompliant motion using a mobile manipulator: an operational space formulation approach to aircraft canopy polishing
The operational space formulation provides a framework for the analysis and control of robotic systems with respect to interactions with their environments. In this paper, we discuss its implementation on a mobile manipulator programmed to polish an aircraft canopy with a curved surface of unknown geometry. The polishing task requires the robot to apply a specified normal force on the canopy su...
متن کاملCompliance Regulation Strategies and Performance Evaluation
This deliverable focuses on the control of compliant actuators compliant robots developed within the AMARSI project, particularly the compliant humanoid COMAN developed at IIT and the compliant quadruped robot Cheetah developed at EPFL. The deliverable summarizes the outcome of tasks T2.5 and T2.6 related to the implementation and validation of different control strategies to regulate the motio...
متن کامل