Hybrid force/position control of industrial robotic manipulator based on Kalman filter

Xia, Guihua; Li, Chao; Zhu, Qidan; Xie, Xinru

doi:10.1109/icma.2016.7558885

Cited by 12 publications

(3 citation statements)

References 13 publications

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“…As could be seen from the force tracking curves [see Figures 8(b) and 9(b)], the actual force can track the desired one, appropriately. The system becomes stable rapidly, and the stable state errors are smaller than the results obtained in the previous works (Xia et al, 2016;Abbas et al, 2018;Chen and Zhang, 2017).…”

Section: Fixed-point Experimentsmentioning

confidence: 54%

Frequency-division based hybrid force/position control of robotic arms manipulating in uncertain environments

Liu

Fang

Han

et al. 2020

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Purpose This paper aims to propose a hybrid force/position control algorithm based on the stiffness estimation of the unknown environment. A frequency-division control scheme is developed to improve the applicability and reliability of the robot in welding, polishing and assembly. Design/methodology/approach The stiffness estimation algorithm with time-varying forgetting factors is used to improve the speed and accuracy of the unknown environmental estimation. The sensor force control and robot position control are adopted in different frequencies to improve system stability and communication compatibility. In the low frequency of sensor force control, the Kalman state observer is used to estimate the robot’s joints information, whereas the polynomial interpolation is used to ensure the smoothness of the high frequency of robot position control. Findings Accurate force control, as well as the system stability, is attained by using this control algorithm. Practical implications The entire algorithm is applied to a six-degrees-of-freedom industrial robot, and experiments are performed to confirm its applicability. Originality/value The frequency-division control strategy guarantees the control stability and improves the smoothness of the robot movement.

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Section: Fixed-point Experimentsmentioning

confidence: 54%

Frequency-division based hybrid force/position control of robotic arms manipulating in uncertain environments

Liu

Fang

Han

et al. 2020

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“…Researchers in the field of polishing robots use active compliance control, passive compliance control, and active and passive compliance control. The common means of active compliance control are power position hybrid control [ 25 , 26 , 27 ] and impedance control [ 28 , 29 , 30 , 31 ].…”

Section: Development History Of Grinding Processmentioning

confidence: 99%

Analysis of Current Situation, Demand and Development Trend of Casting Grinding Technology

Liang

Qiao

2022

Micromachines

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Although grinding is essential in the production of castings, the casting grinding process in manufacturing is complicated and there are many difficulties, such as the large amount of noise in the grinding environment, non-structural casting entities, and the inclination in the overall shape–time variation. Even in the face of complex technology and a variety of difficulties, modern casting grinding technology still demands large-batch production, low cost, fast response, thin brittleness, high precision, etc. The grinding process has a long history. This paper focus on its development from a human-operated, mechanical job, to an automatic grinding task based on compliant control theory. However, the methods mentioned above can no longer satisfy the current production need. In recent years, researchers have proposed intelligent grinding methods to meet the needs of modern casting production, and provided various strategies and alternatives to the challenges of machining accuracy, machining efficiency, and surface consistency. The research direction of casting polishing has mainly focused on online robot detection, material removal prediction, constant grinding contact force control, and high-precision matching. Although applications for online detection and constant grinding contact force control exist in industry, there are challenges in material removal prediction and three-dimensional high-precision matching. This paper also compares and analyzes the advantages and disadvantages of different grinding methods, and puts forward some research directions for future work, so as to promote more intelligent and efficient grinding of complex castings in practical application.

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“…This concept has also been the subject of much research efforts in recent years, especially in the area of robot control. [27][28][29] Electromechanical feed axes in production machines have only one degree of freedom for motions, so the selection matrix is not necessary. Transferring the hybrid control concept should make it possible to change the controllers or use them both simultaneously.…”

Section: Hybrid Control Conceptmentioning

confidence: 99%

Simulative investigation of hybrid force and position control for electromechanical feed axes in production machines

Sewohl

Norberger

Schlegel

et al. 2020

Engineering Reports

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In the area of production engineering, there are several ongoing efforts to improve manufacturing strategies and processes in terms of stability, quality, and efficiency. Control of process forces is one such appropriate measure for ensuring stable process conditions. This can also ensure in reducing the number of parts rejected due to bad quality and thus aiding as a significant economic benefit. However, control of process forces in production machines with electromechanical feed axes is still a developing field and offers space for potential improvement. Control concepts at the process level, which enable a combination of force control and position control still need to be developed. The concept of hybrid force and position control is presented in this article as a possible approach. Different methods of implementation along with the effects are examined in the simulation. A reduced‐order model of an electromechanical feed axis is used for this purpose. The potential of the hybrid force and position control as well as the limits and possible applications are explained based on the simulation results.

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Hybrid force/position control of industrial robotic manipulator based on Kalman filter

Cited by 12 publications

References 13 publications

Frequency-division based hybrid force/position control of robotic arms manipulating in uncertain environments

Frequency-division based hybrid force/position control of robotic arms manipulating in uncertain environments

Analysis of Current Situation, Demand and Development Trend of Casting Grinding Technology

Simulative investigation of hybrid force and position control for electromechanical feed axes in production machines

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