Research on velocity servo-based hybrid position/force control scheme for a grinding robot
文献类型：会议论文
| 作者 | Zhang QW(张庆伟); Han LL(韩利利); Xu F(徐方); Jia K(贾凯) |
| 出版日期 | 2012 |
| 会议名称 | 2nd International Conference on Mechatronics and Intelligent Materials 2012, MIM 2012 |
| 会议日期 | May 18-19, 2012 |
| 会议地点 | GuiLin, China |
| 关键词 | Algorithms Intelligent materials Signal processing Velocity |
| 页码 | 589-593 |
| 中文摘要 | In this paper, a velocity servo-based hybrid position/force control scheme for a grinding robot is presented. It simultaneously performs stable force control and exact position control along curved surface for a grinding robot. The force feedback loop changing the force to velocity, which will be used in the velocity servo-based robot, can control the force directly and has a faster response. The position feedback loop controls the grinding tool in a desired trajectory in Cartesian space. An overview of the control algorithm as well as the force data signal processing and the communication between force sensor and robot controller is described. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | Advanced Materials Research
 |
| 会议录出版者 | Trans Tech Publications |
| 会议录出版地 | Clausthal-Zellerfeld, Germany |
| 语种 | 英语 |
| ISSN号 | 1022-6680 |
| ISBN号 | 978-3-03785-384-9 |
| WOS记录号 | WOS:000312926100121 |
| 源URL | [http://ir.sia.cn/handle/173321/10138]  |
| 专题 | 沈阳自动化研究所_其他 |
| 推荐引用方式 GB/T 7714 | Zhang QW,Han LL,Xu F,et al. Research on velocity servo-based hybrid position/force control scheme for a grinding robot[C]. 见:2nd International Conference on Mechatronics and Intelligent Materials 2012, MIM 2012. GuiLin, China. May 18-19, 2012. |
入库方式： OAI收割
来源：沈阳自动化研究所
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