Adaptation of Force Control Parameters in Robotic Assembly
نویسندگان
چکیده
Industrial robots are usually programmed to follow desired trajectories, and are very good at position-controlled tasks. New applications, however, often require physical contact between the robot and its environment, and then the position control accuracy is generally not sufficient. Force control is a suitable alternative. The environment is often stiff, and then it is crucial to design appropriate force controllers, which is non-trivial for a robot programmer. This paper presents an adaptive algorithm for choosing force control parameters, based on identification of a contact model. The algorithm is experimentally verified in an assembly task with an industrial robot.
منابع مشابه
Drilling Trajectory Prediction Model for Push-the-bit Rotary Steerable Bottom Hole Assembly
The study of rotary steering drilling technology is currently one of the hot topics in the drilling engineering field. It requires accurate well trajectory control instructions when rotary steerable tools are applied to achieve the well trajectory control goal. A drilling trajectory prediction model will benefit this progress. According to the continuous beam theory, a mechanical model of push-...
متن کاملError Recovery by the Use of Sensory Feedback and Reference Measurements for Robotic Assembly
Industrial robots need instrument or parts transport to do which requires coordinate to show the robot’s instrument, parts and body. When investigating the robot location, we are usually interested in measuring its location relative to a reference coordinate system. In this system it is attempted to make the assemble direction smaller by designing the sensor board and making use of an instrumen...
متن کاملRobotic Assembly and Contact Force Control
Modern industrial robots are traditionally programmed to follow desired trajectories, with the only feedback coming from the internal position/angle sensors in the joints. The robots are in general very accurate in tracking the desired motion, and they have become indispensable in many applications, such as spot welding and painting in the automotive industry. In more complex tasks, such as phy...
متن کاملMotion Planning by Integration of Multiple Policies for Complex Assembly Tasks
Robotic assembly has been an active area of manipulation research for several decades. However, almost all assembly tasks, especially complex ones, still need to be performed manually in industrial manufacturing. The difficulty in planning appropriate motion is a major hurdle to robotic assembly. In assembly tasks, manipulated objects come into contact with the environment. Thus, force control ...
متن کاملSensitivity Analysis of Coulomb and HK Friction Models in 2D AFM-Based Nano-Manipulation: Sobol Method
Nanotechnology involves the ability to see and control individual atoms and molecules which are about 100 nanometer or smaller. One of the major tools used in this field is atomic force microscopy which uses a wealth of techniques to measure the topography and investigates the surface forces in nanoscale. Friction force is the representation of the surface interaction between two surfaces an...
متن کامل