Suppress Vibration on Robotic Polishing with Impedance Matching
文献类型：期刊论文
| 作者 | Dai, Junjie; Chen, Chin-Yin; Zhu, Renfeng; Yang, Guilin; Wang, Chongchong; Bai, Shaoping |
| 刊名 | ACTUATORS
 |
| 出版日期 | 2021 |
| 卷号 | 10期号:3 |
| 关键词 | CONTACT FORCE TRACKING END-EFFECTOR DESIGN MANIPULATOR |
| 英文摘要 | Installing force-controlled end-effectors on the end of industrial robots has become the mainstream method for robot force control. Additionally, during the polishing process, contact force stability has an important impact on polishing quality. However, due to the difference between the robot structure and the force-controlled end-effector, in the polishing operation, direct force control will have impact during the transition from noncontact to contact between the tool and the workpiece. Although impedance control can solve this problem, industrial robots still produce vibrations with high inertia and low stiffness. Therefore, this research proposes an impedance matching control strategy based on traditional direct force control and impedance control methods to improve this problem. This method's primary purpose is to avoid force vibration in the contact phase and maintain force-tracking performance during the dynamic tracking phase. Simulation and experimental results show that this method can smoothly track the contact force and reduce vibration compared with traditional force control and impedance control. |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/22129]  |
| 专题 | 中国科学院宁波材料技术与工程研究所 2021专题_期刊论文 |
| 作者单位 | Chen, CY (corresponding author), Chinese Acad Sci, Ningbo Inst Mat Technol & Engn, Zhejiang Key Lab Robot & Intelligent Mfg Equipmen, Ningbo 315201, Peoples R China. |
| 推荐引用方式 GB/T 7714 | Dai, Junjie,Chen, Chin-Yin,Zhu, Renfeng,et al. Suppress Vibration on Robotic Polishing with Impedance Matching[J]. ACTUATORS,2021,10(3). |
| APA | Dai, Junjie,Chen, Chin-Yin,Zhu, Renfeng,Yang, Guilin,Wang, Chongchong,&Bai, Shaoping.(2021).Suppress Vibration on Robotic Polishing with Impedance Matching.ACTUATORS,10(3). |
| MLA | Dai, Junjie,et al."Suppress Vibration on Robotic Polishing with Impedance Matching".ACTUATORS 10.3(2021). |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
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