Robotic force/velocity control for following unknown contours of granular materials

被引：13

作者：

Yu, K

Kieffer, J

机构：

[1] Univ Sydney, Sch Elect & Informat Engn, Sydney, NSW 2006, Australia

[2] Australian Natl Univ, Dept Engn, Canberra, ACT 0200, Australia

来源：

CONTROL ENGINEERING PRACTICE | 1999年 / 7卷 / 10期

关键词：

hybrid force-velocity control; robot control; model-based adaptive control;

D O I：

10.1016/S0967-0661(99)00098-2

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The paper reports on the development of hybrid force-velocity control to enable an end-effector tool to track the unknown contours of a pile of granular material. It has potential application to raw materials handling. Experimental measurements are used to determine an empirical force-motion model. Then a contour-following control law is proposed and proven to be stable regarding the model. The controller is applied experimentally and demonstrated to reliably track both normal force and tangential velocity for various unknown contours. Finally, an adaptive control method is developed and shown to improve the controller's tolerance to variations in contact parameters. (C) 1999 Elsevier Science Ltd. All rights reserved.

引用

页码：1249 / 1256

页数：8

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