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Indirect force control development procedure

Published online by Cambridge University Press:  16 August 2012

Tomasz Winiarski  and
Adam Woźniak
Tomasz Winiarski*
Affiliation:
Institute of Control & Computation Engineering, Warsaw University of Technology, Warsaw, Poland
Adam Woźniak
Affiliation:
Institute of Control & Computation Engineering, Warsaw University of Technology, Warsaw, Poland
*
*Corresponding author. E-mail: tmwiniarski@gmail.com
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Summary

Addition of extra sensors, especially video cameras and force sensors, under control of appropriate software makes robotic manipulators working in factories suitable for a range of new applications. This paper presents a method of manipulator indirect force control development, in which the force set values are specified in the operational space and the manipulator is equipped with a force sensor in its wrist. Standard control development methods need the estimation of parameters of the detailed model of a manipulator and position servos, which is a complicated and time-consuming task. Hence, in this work a time-efficient hybrid procedure of controller development is proposed consisting of both analytical and experimental stages: proposal of an approximate continuous model of a manipulator, experimental determination and verification of its parameter values using the resonance phenomenon, continuous regulator development, and digitization of the regulator.

Keywords

Manipulator controlIndirect force controlController development
Type
Articles
Information
Robotica , Volume 31 , Issue 3 , May 2013 , pp. 465 - 478
Copyright
Copyright © Cambridge University Press 2012

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