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题名:
Research on velocity servo-based hybrid position/force control scheme for a grinding robot
作者: Zhang QW(张庆伟); Han LL(韩利利); Xu F(徐方); Jia K(贾凯)
作者部门: 其他
会议名称: 2nd International Conference on Mechatronics and Intelligent Materials 2012, MIM 2012
会议日期: May 18-19, 2012
会议地点: GuiLin, China
会议录: Advanced Materials Research
会议录出版者: Trans Tech Publications
会议录出版地: Clausthal-Zellerfeld, Germany
出版日期: 2012
页码: 589-593
收录类别: EI ; CPCI(ISTP)
EI收录号: 20121414923705
WOS记录号: WOS:000312926100121
产权排序: 1
ISSN号: 1022-6680
ISBN号: 978-3-03785-384-9
关键词: Algorithms ; Intelligent materials ; Signal processing ; Velocity
摘要: In this paper, a velocity servo-based hybrid position/force control scheme for a grinding robot is presented. It simultaneously performs stable force control and exact position control along curved surface for a grinding robot. The force feedback loop changing the force to velocity, which will be used in the velocity servo-based robot, can control the force directly and has a faster response. The position feedback loop controls the grinding tool in a desired trajectory in Cartesian space. An overview of the control algorithm as well as the force data signal processing and the communication between force sensor and robot controller is described.
语种: 英语
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10138
Appears in Collections:其他_会议论文

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作者单位: 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
2.Graduate School of the Chinese Academy of Sciences, Beijing, 100049, China
3.SIASUN Robot and Automation Co., Ltd, Shenyang, 110168, China

Recommended Citation:
Zhang QW,Han LL,Xu F,et al. Research on velocity servo-based hybrid position/force control scheme for a grinding robot[C]. 2nd International Conference on Mechatronics and Intelligent Materials 2012, MIM 2012. GuiLin, China. May 18-19, 2012.Research on velocity servo-based hybrid position/force control scheme for a grinding robot.
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文件名: Research on velocity servo-based hybrid position-force control scheme for a grinding robot.pdf
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