Surface Tracking with Robot Force Control in Unknown Environment

doi:10.4028/www.scientific.net/AMR.328-330.2140

CORC > 兰州理工大学 > 兰州理工大学

	Surface Tracking with Robot Force Control in Unknown Environment
	Li, Er Chao 2; Li, Zhan Ming 1
	2011
关键词	Robotic force control Fuzzy control Grey prediction Unknown environment
卷号	328-330
DOI	10.4028/www.scientific.net/AMR.328-330.2140
页码	2140-+
英文摘要	Surface tracking with robot force control for position-controlled robotic manipulator is proposed. A neural network is applied to classify the unknown environment based on its dynamic response of the environment, on-line force feedback data are employed to estimate the normal and tangential directions of the unknown environment, the estimated vectors are used to generate the reference trajectory for the target impedance model. Real-time calculates the curvature of curve to be tracked to adjust the speed of the tangential direction, the reference scaling factor is determined by fuzzy reasoning according to current and forecast contact force, in order to adapt the reference trajectory generated for the changeable environmental parameters and control parameters. Simulation is conducted to verify its force tracking capability.
会议录	MECHATRONICS AND MATERIALS PROCESSING I, PTS 1-3
会议录出版者	TRANS TECH PUBLICATIONS LTD
会议录出版地	KREUZSTRASSE 10, 8635 DURNTEN-ZURICH, SWITZERLAND
语种	英语
WOS研究方向	Engineering ; Materials Science ; Mechanics
WOS记录号	WOS:000306989601105
内容类型	会议论文
源URL	[http://119.78.100.223/handle/2XXMBERH/37500]
专题	兰州理工大学电气工程与信息工程学院
通讯作者	Li, Er Chao
作者单位	1.Key Lab Gansu Adv Control Ind Proc, Lanzhou, Peoples R China 2.Lanzhou Univ Technol, Coll Elect & Informat Engn, Lanzhou, Peoples R China
推荐引用方式 GB/T 7714	Li, Er Chao,Li, Zhan Ming. Surface Tracking with Robot Force Control in Unknown Environment[C]. 见:.