Title :
Estimation and control of brush pressure by using IMC based controller
Author :
Suzuki, Ryo ; Suguru, Kuzuhara ; Fujiki, Noriaki ; Kawai, Hiroyuki ; Kobayashi, Nao ; Hofer, Eberhard P.
Author_Institution :
Dept. of Robot., Kanazawa Inst. of Technol., Nonoichi, Japan
fDate :
Oct. 30 2013-Nov. 1 2013
Abstract :
In this paper, we propose the control method of a writing robot for reproducing brush pressure and trajectory without force sensors. The main goal of this research is to estimate and save the brush pressure by using the internal model control. In order to evaluate the proposed controllers, the experimental device is developed. The paper shows that the proposed controller is able to reproduce the brush pressure on flat and inclined surface through experiments.
Keywords :
force sensors; pressure control; robots; IMC based controller; brush pressure control; flat surface; force sensors; inclined surface; internal model control; writing robot; Brushes; Force; Force control; Mathematical model; Robot sensing systems; Writing;
Conference_Titel :
Information, Communication and Automation Technologies (ICAT), 2013 XXIV International Symposium on
Conference_Location :
Sarajevo
DOI :
10.1109/ICAT.2013.6684039
