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Titolo:
AN EXPERIMENTAL-STUDY ON IMPROVING HYBRID POSITION FORCE CONTROL OF AROBOT USING TIME-DELAY CONTROL/
Autore:
CHANG PH; PARK BS; PARK KC;
Indirizzi:
KOREA ADV INST SCI & TECHNOL,DEPT ENGN MECH,YUSUNG GU,373-1 GUSUNG DONG TAEJON 305701 SOUTH KOREA
Titolo Testata:
Mechatronics
fascicolo: 8, volume: 6, anno: 1996,
pagine: 915 - 931
SICI:
0957-4158(1996)6:8<915:AEOIHP>2.0.ZU;2-Z
Fonte:
ISI
Lingua:
ENG
Soggetto:
FORCE CONTROL;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
CompuMath Citation Index
Science Citation Index Expanded
Science Citation Index Expanded
Citazioni:
28
Recensione:
Indirizzi per estratti:
Citazione:
P.H. Chang et al., "AN EXPERIMENTAL-STUDY ON IMPROVING HYBRID POSITION FORCE CONTROL OF AROBOT USING TIME-DELAY CONTROL/", Mechatronics, 6(8), 1996, pp. 915-931

Abstract

Robot position/force control has been a difficult task owing to the interaction between a robot and the environment. In addition to the dynamic instability, the interaction causes the following problems: (1) the dynamic coupling effect of the robot; (2) positional disturbance due to the uncertain surface of the environment with which the robot is in contact; and (3) vibration at steady state. To solve these problems, time delay control (TDC), well known for its robustness to plant uncertainties and disturbances, has been used as a baseline control law for hybrid control. In conjunction with TDC, the following three ideas were also used. (i) To reduce the dynamic coupling, a more accurate mass matrix was used instead of the constant mass matrix. (ii) To rejectpositional disturbance from the environment, force derivatives instead of position derivatives were used in the TDC law. (iii) Finally, to reduce the amplitude of the vibration at steady state, a novel scheme was adopted to enhance the resolution of A/D conversion for the force sensor. Experiments showed obvious improvements in the quality of the hybrid control, thereby clearly demonstrating the effectiveness of TDCwith the proposed ideas. Copyright (C) 1996 Elsevier Science Ltd.

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Documento generato il 09/08/20 alle ore 23:32:27