Journal of Drive and Control (드라이브 ㆍ 컨트롤)

The Korean Society for Fluid Power and Construction Equipment (유공압건설기계학회)
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Unified Approach for Force/Position Control in the Vehicle Body Sanding Process

  • Nguyen, Chi Thanh (Department of Mechanical and Automotive Engineering, University of Ulsan) ;
  • Lee, Jae Woo (Department of Smart Robot and Automation, Woosong College) ;
  • Yang, Soon Yong (Department of Mechanical Engineering, University of Ulsan)
  • Received : 2017.03.22
  • Accepted : 2017.07.27
  • Published : 2017.09.01
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Abstract

This study presents a methodology for simulating a unified approach that controls interaction force between tool and objective by using a synthesis method of robot interacting control law for stabilizing the transient process of motion. Root locus is used to analyze stabilization of motion deviation characteristics. Based on responses of motion deviation, contact force is derived to satisfy exponential stability and we generate control input with respect to motion trajectories and interaction force. Moreover, simulation is applied to experimental application of a Cartesian robot driven by two stepper motors, and the noise of feedback signals is considered as presence of system inaccuracies, and the unified approach of interaction force control is examined precisely.

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References

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