Temat: hybrid position/force control - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Development of grinding and polishing technology for stainless steel with a robot manipulator
Autorzy:: Shaw, Jinsiang
Fang, Yu-Jia
Powiązania:: https://bibliotekanauki.pl/articles/2141789.pdf
Data publikacji:: 2021
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: active compliant
hybrid position/force control
robot manipulator
surface machining
surface roughness
Opis:: In traditional industries, manual grinding and polishing technologies are still used predominantly. However, these procedures have the following limitations: excessive processing time, labor consumption, and product quality not guaranteed. To address the aforementioned limitations, this study utilizes the good adaptability of a robotic arm to develop a tool-holding grinding and polishing system with force control mechanisms. Specifically, off-the-shelf handheld grinder is selected and attached to the robotic arm by considering the size, weight, and processing cost of the stainless steel parts. In addition, for contact machining, the robotic arm is equipped with a force/torque sensor to ensure that the system is active compliant. According to the experimental results, the developed system can reduce the surface roughness of 304 stainless steel to 0.47 µm for flat surface and 0.76 µm for circular surface. Moreover, the processing trajectory is programmed in the CAD/CAM software simulation environment, which can lead to good results in collision detection and arm posture establishment.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2021, 15, 4; 37-43
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Performance analysis between a hybrid force/position and conventional controllers for a wrist exoskeleton
Autorzy:: Avilés, Valeria
Avilés, Oscar F.
Aponte, Jorge
Caldas, Oscar I.
Mauledoux, Mauricio F.
Powiązania:: https://bibliotekanauki.pl/articles/2134891.pdf
Data publikacji:: 2022
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: exoskeleton
hybrid control
force
performance
position
Opis:: This study analyses the performances of various path controlling strategies for a 3-degrees of freedom wrist exoskeleton, by comparing key indicators, such as rise time, steady-state error, and implementation difficulty. A model was built to describe both system’s kinematics and dynamics, as well as 3 different controllers (PID, PD+, and a hybrid force/position controller) that were designed to allow each joint to perform smooth motions within anatomic ranges. The corresponding simulation was run and assessed via Matlab (version 2020a). In addition to the performance comparison, remarkable characteristics could be identified among controllers. PD+ showed higher response speed than the other controllers (about 4 times), and PID was reinforced as the technique with the easiest implementation due to the smallest matrices. The study also allowed to greater potential of the hybrid controller to interact with its environment, i.e., the robotic device.
Źródło:: Archives of Control Sciences; 2022, 32, 2; 409--427
1230-2384
Pojawia się w:: Archives of Control Sciences
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: Modified position-force control for a manipulator geometrically constrained by round obstacles
Autorzy:: Mazur, Alicja
Kaczmarek, Mirela
Ratajczak, Joanna
Domski, Wojciech
Powiązania:: https://bibliotekanauki.pl/articles/950745.pdf
Data publikacji:: 2019
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: manipulator
position-force control
principle of orthogonalisation
hybrid control
Opis:: This paper addresses the problem of position-force control for robot manipulators under geometric endpoint constraints defined as round obstacles. Considerations are based on hybrid position-force control and use modified Arimoto algorithm with the principle of ”orthogonalisation”. To achieve so-called joint space orthogonalisation, where motion signals are orthogonal to force vectors and the direction selection is performed in the joint space, projection matrix is utilized. The convergence of tracting and force errors is proved.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2019, 13, 2; 60-67
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 4.

Tytuł:: Platforma Hexa jako system aktywnego otoczenia - konstrukcja mechaniczna i sterowanie
Hexa platform as active environment system - mechanics and control
Autorzy:: Osypiuk, R.
Powiązania:: https://bibliotekanauki.pl/articles/154875.pdf
Data publikacji:: 2009
Wydawca:: Stowarzyszenie Inżynierów i Techników Mechaników Polskich
Tematy:: Manipulator Hexa
zamknięty łańcuch kinematyczny
hybrydowe sterowanie pozycja/siła
podatność pasywna i aktywna
otwarte architektury sterowania
Hexa manipulator
closed kinematic chain
hybrid force/position control
passive and active compliance
open control architectures in robotics
Opis:: W artykule zaprezentowano aktuator sztywności bazujący na platformie Hexa, który dedykowany jest do zadań sterowania momentem i siłą w aplikacjach z wykorzystaniem manipulatorów przemysłowych. Podejście to jest interesującą alternatywą dla znanych z literatury i obarczonych istotnymi wadami podatnościami pasywnymi i aktywnymi. W pracy zwrócono szczególną uwagę na konstrukcję mechaniczną platformy, do napędu której wykorzystano tanie serwa firmy Hitec, przeznaczone do zastosowań w robotyce. Omówiono proces projektowania platformy zaczynając od strony mechanicznej, poprzez napędy, elektronikę, a kończąc na otwartej architekturze sterowania.
In the paper the idea of using variable stiffness actuator was presented. The actuator is based on the Hexa platform (fig. 2) and is dedicated to force/torque control in the industrial manipulator applications. In view of high stiffness of the robots and usually high stiffness of the environment the passive and active compliant devices have to be used, e.g. to protect system against violent force changes. Many serious problems and disadvantages could be found during application of the known compliant systems [8]. These problems could be reduced by using of the variable stiffness actuator. The proposed actuator is an alternative solution and could be used on the manipulator side [9] or on the environment side [10, 11]. Description of using the passive and active compliance elements could found in chapter 2. Details of mechanic end electric construction of variable stiffness actuator with low cost robotic servos from Hitec are presented in chapter 3. Hardware interface (Fig. 3) is shown in the chapter 4 with main properties of the MiRPA (Middleware for Robotic and Process Control Applications) open control architecture system. Using of the MiRPA in rapid control prototyping systems is described in chapter 5. In the Fig. 6 the complete force control setup is presented. Experimental tests demonstrate that the assembly time of the robot tasks is shorter than in classic systems without variable stiffness actuator.
Źródło:: Pomiary Automatyka Kontrola; 2009, R. 55, nr 9, 9; 723-726
0032-4140
Pojawia się w:: Pomiary Automatyka Kontrola
Dostawca treści:: Biblioteka Nauki

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