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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

Information

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

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