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Research on velocity servo-based hybrid position/force control scheme for a grinding robot
Zhang QW(张庆伟); Han LL(韩利利); Xu F(徐方); Jia K(贾凯)
Department其他
Conference Name2nd International Conference on Mechatronics and Intelligent Materials 2012, MIM 2012
Conference DateMay 18-19, 2012
Conference PlaceGuiLin, China
Source PublicationAdvanced Materials Research
PublisherTrans Tech Publications
Publication PlaceClausthal-Zellerfeld, Germany
2012
Pages589-593
Indexed ByEI ; CPCI(ISTP)
EI Accession number20121414923705
WOS IDWOS:000312926100121
Contribution Rank1
ISSN1022-6680
ISBN978-3-03785-384-9
KeywordAlgorithms Intelligent Materials Signal Processing Velocity
AbstractIn 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.
Language英语
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/10138
Collection其他
Affiliation1.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
GB/T 7714
Zhang QW,Han LL,Xu F,et al. Research on velocity servo-based hybrid position/force control scheme for a grinding robot[C]. Clausthal-Zellerfeld, Germany:Trans Tech Publications,2012:589-593.
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