{"title":"使用电子合规的自动机器人去毛刺;阻抗控制","authors":"H. Kazerooni","doi":"10.1109/ROBOT.1987.1087862","DOIUrl":null,"url":null,"abstract":"A new strategy has been developed for precision deburring and grinding to guarantee burr removal while compensating for robot oscillations and small uncertainties in the location of the part relative to the robot. This problem has been posed as a frequency domain control problem. Electronic compliancy (impedance control) is demanded as an \"adaptive\" mechanism to satisfy the requirements of this new strategy. This paper examines the development and implementation of impedance control methodology [7,8,9,10,16] on an active end-effector[15] (or the whole robot if it is possible) for precision deburring and grinding tasks.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"232 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1987-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"20","resultStr":"{\"title\":\"Automated roboting deburring using electronic compliancy; Impedance control\",\"authors\":\"H. Kazerooni\",\"doi\":\"10.1109/ROBOT.1987.1087862\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A new strategy has been developed for precision deburring and grinding to guarantee burr removal while compensating for robot oscillations and small uncertainties in the location of the part relative to the robot. This problem has been posed as a frequency domain control problem. Electronic compliancy (impedance control) is demanded as an \\\"adaptive\\\" mechanism to satisfy the requirements of this new strategy. This paper examines the development and implementation of impedance control methodology [7,8,9,10,16] on an active end-effector[15] (or the whole robot if it is possible) for precision deburring and grinding tasks.\",\"PeriodicalId\":438447,\"journal\":{\"name\":\"Proceedings. 1987 IEEE International Conference on Robotics and Automation\",\"volume\":\"232 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1987-03-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"20\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings. 1987 IEEE International Conference on Robotics and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBOT.1987.1087862\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBOT.1987.1087862","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Automated roboting deburring using electronic compliancy; Impedance control
A new strategy has been developed for precision deburring and grinding to guarantee burr removal while compensating for robot oscillations and small uncertainties in the location of the part relative to the robot. This problem has been posed as a frequency domain control problem. Electronic compliancy (impedance control) is demanded as an "adaptive" mechanism to satisfy the requirements of this new strategy. This paper examines the development and implementation of impedance control methodology [7,8,9,10,16] on an active end-effector[15] (or the whole robot if it is possible) for precision deburring and grinding tasks.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
