Full-Text Search:
Home|Journal Papers|About CNKI|User Service|FAQ|Contact Us|中文
《Modular Machine Tool & Automatic Manufacturing Technique》 2011-05
Add to Favorite Get Latest Update

Study of the Impact/Contact Control Between the Robot and Environment

LI Zheng-yi,TANG Xiao-qi,YE Bo-sheng,XIONG Shuo(State Engineering Research Center of Numerical Control System School of Mechanical Science and Engineering,Huazhong University of Science and Technology,Wuhan 430074,China)  
In order to stabilise the robot end-effector in impact/contact with environment,we design a force/velocity robot controller based on the fast rate of energy dissipation of the system.The proposed control method follows the reference velocity in free motion,but during the impact/contact,it adjusts the control system force feedback coefficient according to the contact force error and the robot end-effector velocity to dissipate the energy of the system as fast as possible,and the fuzzy control method is used to facilitate fine adjustments of the system force feedback coefficient to improve the stability of the impact/contact transition between the robot and environment.Experiments demonstrate the proposed control method improves the stability of the impact/contact control between the robot and environment as compared with the normal proportional—integral—derivative(PID) control method.
【Fund】: 国家自然科学基金项目(50875099 20100192);; 国家科技重大专项(2009ZX04014-052)
【CateGory Index】: TP242
Download(CAJ format) Download(PDF format)
CAJViewer7.0 supports all the CNKI file formats; AdobeReader only supports the PDF format.
©2006 Tsinghua Tongfang Knowledge Network Technology Co., Ltd.(Beijing)(TTKN) All rights reserved