Title :
Sliding mode impedance control and its application to grinding tasks
Author :
Lu, Z. ; Kawamura, Sadao ; Goldenberg, A.A.
Author_Institution :
Dept. of Mech. Eng., Toronto Univ., Ont., Canada
Abstract :
A sliding mode based impedance controller is proposed. A continuous PI function is used near the sliding surface to avoid chattering as well as to reduce the steady-state error. Stability analysis is performed via Lyapunov theory. The proposed controller is realized on a DD-arm robot to test its performance. Its performance in the grinding process with different parameters of targeted impedance is also investigated. Through frequency spectrum analysis of the grinding force, criteria to choose the proper parameters of the targeted impedance for grinding tasks are suggested
Keywords :
Lyapunov methods; grinding; stability; two-term control; variable structure systems; vibration control; DD-arm robot; Lyapunov theory; continuous PI function; frequency spectrum analysis; grinding; impedance controller; machining; sliding mode; stability; two-term control; vibration control; Automatic control; Force control; Force sensors; Humans; Mechanical engineering; Robot sensing systems; Robotics and automation; Sliding mode control; Steady-state; Surface impedance;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174475
