DocumentCode
654080
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
fYear
2013
fDate
Oct. 30 2013-Nov. 1 2013
Firstpage
1
Lastpage
6
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Information, Communication and Automation Technologies (ICAT), 2013 XXIV International Symposium on
Conference_Location
Sarajevo
Type
conf
DOI
10.1109/ICAT.2013.6684039
Filename
6684039
Link To Document