Adaptive force tracking impedance control of robot for cutting nonhomogeneous workpiece

Author

Jung, Seul ; Hsia, T.C.

Author_Institution

Robotics & Comput. Intelligence Lab., Chungnam Nat. Univ., Taejon, South Korea

Volume

3

fYear

1999

fDate

1999

Firstpage

1800

Abstract

This paper presents the feasibility study of an adaptive impedance force control application to deburring/milling process. The proposed control regulates desired force on nonhomogeneous workpiece in regardless of unknown location and stiffness of the workpiece. The adaptive technique of minimizing the force error between the desired and the actual force is used to compensate for uncertainties in unknown workpiece. Effect of selecting the impedance damping gain with different workpiece stiffness on force tracking is analytically determined. Analyzing the stability of the proposed adaptive force control yields the bound of the adaptive gain for stability. Simulation studies of deburring/milling process show the excellent force tracking and confirm stability bound for stable force tracking

Keywords

adaptive control; compensation; cutting; force control; industrial control; industrial manipulators; stability criteria; tracking; uncertain systems; adaptive force tracking impedance control; deburring; force error minimization; impedance damping gain; milling; nonhomogeneous workpiece cutting; robot; stability bound; workpiece stiffness; Adaptive control; Deburring; Force control; Impedance; Milling; Process control; Programmable control; Robot control; Stability analysis; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.770370

Filename

770370