Chow Yin Lai, "Improving the transient performance in robotics force control using nonlinear damping," Advanced Intelligent Mechatronics (AIM), 2014 IEEE/ASME International Conference on , vol., no., pp.892,897, 8-11 July 2014 doi: 10.1109/AIM.2014.6878193
Abstract:
Robotics force control is increasingly being used in the manufacturing industry, to perform surface polishing, deburring, parts mating etc. However, to avoid the high impact force which could damage the workpiece, a common strategy is to command the robot to approach the workpiece slowly, which increases the overall cycle time. In this paper, we propose a nonlinear damping control scheme which reduces the force overshoot without compromising on the dynamic response. The controller design and the parameter tuning are relatively straightforward because of the clear physical meanings of the parameters. Finally, the effectiveness of the proposed controller is verified through simulation studies.
License type:
PublisherCopyrights
Funding Info:
Science and Engineering Research Council, Agency for Science, Technology and Research (A*STAR) under Grant U12-R-051SU / SIMT/12-410025.