Abstract
It is often useful in automation tasks to make a robot manipulator interact with its environment in a controlled manner. This paper considers an edge-following using accommodation force control. The robot behavior changes with configuration, and unexpected workpiece disturbances degrade the system performance. The tracking speed and force regulation of the edge-following can be improved by preview control. The preview controller is implemented on an industrial robot system, and experiments are carried out to verify validity of the preview control.
Volume Subject Area:
Automatic Deburring and Finishing Methods: Nontraditional and Traditional Processes
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Copyright © 1997 by The American Society of Mechanical Engineers
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