Robotic Sanding of Wooden Bowls with Hybrid Force/Position Impedance Control
| Autor: | S. Sudhagar, Brian Surgenor, Keyvan Hashtrudi-Zaad |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Computer science business.industry Process (computing) Mechanical engineering Polishing Robotics 02 engineering and technology 020303 mechanical engineering & transports 020901 industrial engineering & automation 0203 mechanical engineering Impedance control Control theory Position (vector) Robot Artificial intelligence business |
| Zdroj: | CCECE |
| DOI: | 10.1109/ccece47787.2020.9255797 |
| Popis: | This paper addresses the question as to whether a serial robot could be used to sand a wooden bowl, in order to free a human operator from what is considered a hazardous task. The process of sanding wood is similar to the polishing of metal, There are robot-based commercial systems available for the polishing of metal. However, unlike aluminum, wood is a non-homogeneous material. In the case of wooden bowls, each has a unique geometry, and to a degree, unique material properties. A hybrid force/position impedance controller was implemented and four different force control configurations were tested. The best performance was obtained with a FO filter for force control and PD action for position control. |
| Databáze: | OpenAIRE |
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