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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Applying the Robust Force Tracking Controller to assist the Sealing Robot System on a Concrete Surface

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  • Cho, Cheol-Joo (Electrical Engineering, Graduate School of Knowledge-based Technology and Energy, Korea Polytechnic University) ;
  • Lim, Kye-Young (Energy and Electrical Engineering, Korea Polytechnic University)
  • 조철주 (한국산업기술대학교 지식기반기술에너지대학원 전기공학 전공) ;
  • 임계영 (한국산업기술대학교 에너지전기공학과)
  • Received : 2016.01.29
  • Accepted : 2016.04.19
  • Published : 2016.06.01
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Abstract

The sealing robot must be able to calculate the slope of a contact surface for complete adherence of the sealing on different concrete shapes. After the slope is obtained, the robot will track on the surface of the concrete, but this process contains an error in the actual purpose of the force command. The reason this a phenomenon occurs, the non-linearity of the contact surface and the end-effector, is due to parasitic coupling. Errors like make it difficult to measure accurately the respective factors. Therefore, it is regarded as a disturbance that occurs when it follows the work surface it. In this paper, we selected the friction coefficient of the surface as a control factor and designed a compensator to reduce effects of disturbance. Finally, in view of the non-linearity of the end-effector of a robot to contact surfaces directly, we propose a robust force tracking controller in the finite range for managing disturbances that occur during the sealing.

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References

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