A switching control scheme for constrained robot tasks

Author

Yu, Biao ; Pagilla, Prabhakar R.

Author_Institution

Sch. of Mech. & Aerosp. Eng., Oklahoma State Univ., Stillwater, OK, USA

fYear

2001

fDate

2001

Firstpage

1105

Lastpage

1110

Abstract

The paper presents the design and real-time control implementation issues of a switching control scheme for a robot interacting with a constraint surface. One key aspect investigated is the effect of uncertainty in the location of the constraint surface. A switching controller that is robust to uncertainty in the location of the constraint surface is given for a typical constrained robot task. Further, a strategy for real-time trajectory modification, which is required to compensate for the discrepancy in the a-priori known location and the actual location of the constraint, is given. Details of the experimental platform and typical experimental results are given. This research can find applications in robotic surface finishing operations such as polishing, chamfering and deburring, etc

Keywords

industrial robots; on-off control; polishing; real-time systems; robot dynamics; constraint surface; dynamic model; industrial robots; real-time systems; switching control; Force control; Machinery production industries; Mechanical sensors; Motion control; Robot motion; Robot sensing systems; Service robots; Surface finishing; Uncertainty; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2001. (CCA '01). Proceedings of the 2001 IEEE International Conference on

Conference_Location

Mexico City

Print_ISBN

0-7803-6733-2

Type

conf

DOI

10.1109/CCA.2001.974019

Filename

974019