Paper Info
Title
Nonlinear adaptive control of a flexible manipulator for automated deburring
Abstract
The goal of the automated deburring can be achieved by maintaining a constant force on the grinding tool in the direction normal to the constraint surface while following the positional trajectory in the direction tangential to the surface. In this paper, the dynamics of both the deburring process and the flexible manipulator are investigated in detail, and a singular perturbation technique is then utilized to separate the system into a slow subsystem and a fast subsystem, whereby an adaptive hybrid position/force controller is derived for the slow subsystem whereas a dynamic feedback controller is developed for the fast subsystem. It is shown that the motional tracking error and the force regulation error converge to a small residual set. Finally, computer simulations and experiments of a 2-link flexible manipulator confirm the effectiveness of the proposed controller
Year
DOI
Venue
1997
10.1109/ROBOT.1997.606718
ICRA
Keywords
Field
DocType
2-link flexible manipulator,force regulation error converge,motion control,automated deburring,adaptive hybrid position/force controller,grinding tool,positional trajectory,machine tools,flexible manipulator,singular perturbation technique,force control,feedback,nonlinear adaptive control,adaptive control,dynamic feedback controller,nonlinear control systems,distributed parameter systems,digital simulation,fast subsystem,position control,slow subsystem,motional tracking error,industrial manipulators,grinding,force feedback,computer simulation,motion tracking,tracking,singular perturbation,control systems
Motion control,Control theory,Control theory,Control engineering,Singular perturbation,Distributed parameter system,Engineering,Adaptive control,Trajectory,Machine tool,Tracking error
Conference
Volume
Issue
ISSN
4
1
1050-4729
ISBN
Citations 
PageRank 
0-7803-3612-7
2
0.45
References 
Authors
4
2
Name
Order
Citations
PageRank
Ling-Hui Chang120.45
Li-Chen Fu21419196.64