Toggle Main Menu Toggle Search

Open Access padlockePrints

Position/force control of manipulator based on force measurement and its application to gear deburring

Lookup NU author(s): Dr Zhongxu Hu, Dr Bob Bicker, Christopher Marshall

Downloads

Full text for this publication is not currently held within this repository. Alternative links are provided below where available.


Abstract

Robotic gear deburring is a relatively difficult task because traditional position/force control laws are not suitable due to the complicated geometry and inevitable system positioning error. A position/force control algorithm based on force measurement is investigated for unknown gear profile detection and tracking, and its further application to the deburring process. A PID type fuzzy logic controller is applied to deal with the non-linear contact force control problem, and a velocity compensated position control method is utilized to obtain a faster response. Experimental results are provided to verify the efficiency of the proposed control method.


Publication metadata

Author(s): Hu Z, Bicker R, Marshall C

Publication type: Article

Publication status: Published

Journal: Journal of Intelligent and Fuzzy Systems

Year: 2004

Volume: 14

Issue: 4

Pages: 215-223

Print publication date: 01/01/2004

ISSN (print): 1064-1246

ISSN (electronic): 1875-8967

Publisher: IOS Press


Share