Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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New Robbt Force Control Technique for Deburring and Polishing Process

로봇의 디버링 작업이나 표면 광택작업을 위한 새로운 힘제어 기술 개발

  • Jeong, Seul (Dept. of Mechatronics Engineering, Chungnam National University)
  • 정슬 (충남대학교 메카트로닉스공학과)
  • Published : 2000.09.01
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Abstract

In this paper, a new impedance force control method for deburring and polishing process is proposed. The proposed method is robust to deal with unknown environment stiffness as unknown well as environment location. An adaptive technique is used to minimize the force error occurred due to unknown environment surface profile. A robust position control algorithm based on time-delayed information is used to cancel out uncertainties in robot dynamics. A three link robot manipulator is used to demonstrate performances of the proposed control on deburring and polishing tasks. Stability analysis for the adaptive control is presented and its results are confirmed by simulations.

Keywords

References

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