Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
권호 표지
DOI QR코드

DOI QR Code

Development of Process of A Force Sensorless Interference fit Assembly Robot System using Sliding Perturbation Observer

슬라이딩 섭동관측기를 이용한 힘 센서리스 억지끼워맞춤 조립로봇시스템 공정개발

  • Byun, Gyu Ho (Department of Interdisciplinary Programs in Robotics, Pusan National Univ.) ;
  • Moon, Young Geun (Department of Mechanical Engineering, Pusan National Univ.) ;
  • Yoon, Sung Min (Department of Mechanical Engineering, Pusan National Univ.) ;
  • Lee, Min-Cheol (Department of Mechanical Engineering, Pusan National Univ.)
  • 변규호 (부산대학교 로봇관련협동과정) ;
  • 문영근 (부산대학교 기계공학과) ;
  • 윤성민 (부산대학교 기계공학과) ;
  • 이민철 (부산대학교 기계공학과)
  • Received : 2013.11.28
  • Accepted : 2013.02.24
  • Published : 2014.03.01
Download PDF
⟨ Previous Next ⟩

Abstract

In inference fit assembly process of the industrial robot, it basically needs the force data. One of the typical methods to get the force data is attaching torque sensors on the robot arm joint or end effector. This is effective way to reduce time delay and to improve preciseness of force control, but this method has several problems. To solve that problem, this paper suggests method which measures assembly force without torque sensor by using the sliding perturbation observer(SPO) and assembly process based on SPO to assemble successfully in inference assembly

Keywords

References

  1. Lumelsky, V. J. and Cheung, E., "Real-time Collision Avoidance in Teleoperated Whole-Sensitive Robot Arm Manipulators," IEEE Transactions on Systems, Man and Cybernetics, Vol. 23, No. 1, pp. 194-203, 1993. https://doi.org/10.1109/21.214777
  2. Whitney, D. E., "Mechanical Assemblies," Oxford University press, pp. 253-292, 2004.
  3. Lee, M. C., Kim, C. Y., Yao, B., Peine, W. J., and Song, Y. E., "Reaction Force Estimation of Surgical Robot Instrument using Perturbation Observer with SMCSPO Algorithm," IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 181-186, 2010.
  4. Moura, J. T., Elmali, H., and Olgac, N., "Sliding Mode Control with Sliding Perturbation Observer," Journal of Dynamic Systems, Measurement, and Control, Vol. 119, No. 4, pp. 657-665, 1997. https://doi.org/10.1115/1.2802375
  5. Slotine, J. -J. E., Hedrick, J. K., and Misawa, E. A., "On Sliding Observers for Nonlinear Systems," ASME Journal of Dynamic Systems, Measurement and Control, Vol. 109, pp. 245-252, 1987. https://doi.org/10.1115/1.3143852
  6. Elmali, H., and Olgac, N., "Sliding Mode Control with Perturbation Estimation (smcpe): A new Approach," International Journal of Control, Vol. 56, No. 4, pp. 923-941, 1992. https://doi.org/10.1080/00207179208934350
  7. You, K., Lee, M., and Yoo, W., "Sliding Mode Controller with Sliding Perturbation Observer based on Gain Optimization using Genetic Algorithm," KSME International Journal, Vol. 18, No. 4, pp. 630-639, 2004.
  8. Song, Y. E., Lee, M. C., and Kim, C. Y., "Sliding Mode Control with Sliding Perturbation Observer for Surgical Robots" IEEE International Symposium on Industrial Electronics, pp. 2153-2158, 2009.
  9. ROBOTECH. Inc industrial robot & automation system "Robots Reference Library," http://www.robotech.co.kr.html (Accessed 24 Feb. 2014)
  10. Matweb material property data "Material Property Data Reference," http://www.matweb.com/search/DataSheet.aspx?MatGUID=72952575f2ef43bc886d6dffb7b564ca.html (Accessed 24 Feb. 2014)
  11. Tae Sung Software & Engineering Inc., "ANSYS Workbench," 2014.