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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


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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