Title :
Identification and smooth tracking control of robot force control system
Author :
Qingyuan, Li ; Qian, Tao ; Cai Hegao ; Linqi, Hou
Author_Institution :
Robot Res. Inst., Harbin Inst. of Technol., China
Abstract :
In order to obtain high performance of the force control system during deburring operation, the new adaptive feedforward force control scheme (adaptive zero phase error tracking control) to achieve accurate tracking contact force which is based on the ARMAX plant models identified using the least squares method is proposed. Simulation results of a robotic deburring system are given to illustrate the efficiency of the proposed scheme
Keywords :
adaptive control; force control; identification; least squares approximations; robots; tracking; ARMAX plant models; adaptive feedforward force control; adaptive zero phase error tracking control; deburring operation; least squares method; robot force control system; smooth tracking control; Adaptive control; Control systems; Deburring; End effectors; Force control; Poles and zeros; Programmable control; Robot control; Robot sensing systems; Robotics and automation;
Conference_Titel :
Industrial Electronics, 1992., Proceedings of the IEEE International Symposium on
Conference_Location :
Xian
Print_ISBN :
0-7803-0042-4
DOI :
10.1109/ISIE.1992.279557
