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 1; Li, Zhan Ming 2
	2011
会议日期	November 18, 2011 - November 20, 2011
会议地点	Guangzhou, China
关键词	Dynamic response Force control Fuzzy control Manipulators Mechatronics Navigation Neural networks Position control Robots Contact forces Control parameters Environmental parameter Force feedback Force tracking Fuzzy reasoning Grey prediction Impedance models Reference scaling factor Reference trajectories Robot force control Robotic force control Robotic manipulators Surface tracking Tangential directions Unknown environments
卷号	328-330
DOI	10.4028/www.scientific.net/AMR.328-330.2140
页码	2140-2143
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. © 2011 Trans Tech Publications.
会议录	Advanced Materials Research
会议录出版者	Trans Tech Publications, P.O. Box 1254, Clausthal-Zellerfeld, D-38670, Germany
语种	英语
ISSN号	10226680
内容类型	会议论文
源URL	[http://ir.lut.edu.cn/handle/2XXMBERH/116713]
专题	兰州理工大学
作者单位	1.College of Electrical and Information Engineering, Lanzhou University of Technology, China; 2.Key Laboratory of Gansu Advanced Control for Industrial Processes, 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:. Guangzhou, China. November 18, 2011 - November 20, 2011.