FORCE CONTROLLER-DESIGN AND EVALUATION FOR ROBOT-ASSISTED DIE AND MOLD POLISHING

被引:22
|
作者
GUVENC, L
SRINIVASAN, K
机构
[1] Department of Mechanical Engineering, The Ohio State University, Columbus
基金
美国国家科学基金会;
关键词
D O I
10.1006/mssp.1995.0003
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
A significant portion of the total manufacturing time for a die or a mould, both used extensively in producing complex shaped parts, is spent on surface finishing operations following the primary machining of the die or mould cavity. Hence, there is considerable incentive in pursuing even partial automation of die or mould sui face finishing operations. This paper concentrates on the control issues that arise during automation: of die and mould surface finishing using industrial robot held tools, with particular attention being devoted to the design and evaluation of force controllers to maintain the desired tool-workpiece interaction. Simplified models of the polishing process including the effect of robot structural compliance are presented first, for analysing and designing controllers. A through-the-arm robot force control implementation using off-the-shelf tooling is discussed next. However, the major focus of this paper is on active end effector force control since there are limitations in the performance of the through-the-arm force control loop. Active end effector force controller design requirements and a simple robust stability test in the face of model uncertainty are given and applied to several design examples. Results of force controller analysis and design are verified by experiments where force regulation during polishing and trajectory tracking are demonstrated.
引用
收藏
页码:31 / 49
页数:19
相关论文
共 50 条
  • [31] A high-level controller for robot-assisted rehabilitation
    Erol, Duyguin
    Sarkar, Nilanjan
    Halder, Bibhrajit
    2006 28TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-15, 2006, : 2792 - +
  • [32] Design and evaluation of an industrial robot arm end-effector for robot-assisted surgery
    Young, Andy
    Gandhi, Shail
    Narayan, Meenakshi
    QUANTUM TECHNOLOGY: DRIVING COMMERCIALISATION OF AN ENABLING SCIENCE III, 2022, 12335
  • [33] Design and evaluation of an industrial robot arm end-effector for robot-assisted surgery
    Young, Andy
    Gandhi, Shail
    Narayan, Meenakshi
    ADVANCED BIOMEDICAL AND CLINICAL DIAGNOSTIC AND SURGICAL GUIDANCE SYSTEMS XXI, 2023, 12368
  • [34] Evaluation of force data with a force/torque sensor during FESS - A step towards robot-assisted surgery
    Eichhorn, K. W. G.
    Tingelhoff, K.
    Wagner, I.
    Westphal, R.
    Rilk, M.
    Kunkel, M. E.
    Wahl, F. M.
    Bootz, F.
    HNO, 2008, 56 (08) : 789 - 794
  • [35] Fundamental study of surface generation in robot-assisted polishing of optical components
    Zhao, Zejia
    Xiong, Jing
    Li, Lai
    Wang, Haoyu
    Lin, Jiatian
    Zhu, Liu
    Guo, Dengji
    Wang, Xujin
    INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, 2025, : 2221 - 2235
  • [36] Design of a PVDF-MFC Force Sensor for Robot-Assisted Single Cell Microinjection
    Wei, Yuzhang
    Xu, Qingsong
    IEEE SENSORS JOURNAL, 2017, 17 (13) : 3975 - 3982
  • [37] Design and Characterization of a Dual-Interval Elastic Force Sensor for Robot-Assisted Microinjection
    Lyu, Zekui
    Ai, Nana
    Ge, Wei
    Xu, Qingsong
    ADVANCED SENSOR RESEARCH, 2024, 3 (10):
  • [38] Intuitive Force Feedback for Robot-Assisted Load Transport
    Celik, Cankan
    Ankarali, Mustafa Mert
    2024 33RD IEEE INTERNATIONAL CONFERENCE ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, ROMAN 2024, 2024, : 405 - 411
  • [39] A Novel Pneumatic Force Sensor for Robot-Assisted Surgery
    Gaudeni, Chiara
    Meli, Leonardo
    Prattichizzo, Domenico
    HAPTICS: SCIENCE, TECHNOLOGY, AND APPLICATIONS, PT II, 2018, 10894 : 587 - 599
  • [40] Development of ultrasonic vibration assisted polishing machine for micro aspheric die and mold
    Suzuki, H.
    Moriwaki, T.
    Okino, T.
    Ando, Y.
    CIRP ANNALS-MANUFACTURING TECHNOLOGY, 2006, 55 (01) : 385 - 388