Surface Tracking with Robot Force Control in Unknown Environment

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.

关键词： Robotic force control Fuzzy control Grey prediction Unknown environment

作者: ErChaoLi ZhanMingLi

作者单位: College of Electrical and Information Engineering, Lanzhou University of Technology, China Key Laboratory of Gansu Advanced Control for Industrial Processes, China

会议类型: 国际会议

会议名称: 2011 International Conference on Mechatronics and Materials Processing(2011年机电一体化与材料加工国际会议 ICMMP)

会议地点: 广州

会议语种:英文

页码: 2140-2143

在线出版日期: 2011-11-18（万方平台首次上网日期，不代表论文的发表时间）