{"title":"Preview Control for Robot Force Control: Experimental Investigation of Edge-Following","authors":"B. Yong","doi":"10.1115/imece1997-1103","DOIUrl":null,"url":null,"abstract":"\n It is often useful in automation tasks to make a robot manipulator interact with its environment in a controlled manner. This paper considers an edge-following using accommodation force control. The robot behavior changes with configuration, and unexpected workpiece disturbances degrade the system performance. The tracking speed and force regulation of the edge-following can be improved by preview control. The preview controller is implemented on an industrial robot system, and experiments are carried out to verify validity of the preview control.","PeriodicalId":432053,"journal":{"name":"Manufacturing Science and Engineering: Volume 1","volume":"34 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1997-11-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Manufacturing Science and Engineering: Volume 1","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1115/imece1997-1103","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
It is often useful in automation tasks to make a robot manipulator interact with its environment in a controlled manner. This paper considers an edge-following using accommodation force control. The robot behavior changes with configuration, and unexpected workpiece disturbances degrade the system performance. The tracking speed and force regulation of the edge-following can be improved by preview control. The preview controller is implemented on an industrial robot system, and experiments are carried out to verify validity of the preview control.
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