SIA OpenIR  > 其他
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)
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
会议录名称Advanced Materials Research
出版者Trans Tech Publications
出版地Clausthal-Zellerfeld, Germany
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
引用统计
被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10138
专题其他
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
推荐引用方式
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.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
Research on velocity(280KB) 开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Zhang QW(张庆伟)]的文章
[Han LL(韩利利)]的文章
[Xu F(徐方)]的文章
百度学术
百度学术中相似的文章
[Zhang QW(张庆伟)]的文章
[Han LL(韩利利)]的文章
[Xu F(徐方)]的文章
必应学术
必应学术中相似的文章
[Zhang QW(张庆伟)]的文章
[Han LL(韩利利)]的文章
[Xu F(徐方)]的文章
相关权益政策
暂无数据
收藏/分享
文件名: Research on velocity servo-based hybrid position-force control scheme for a grinding robot.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。