Design of force control system using tendon-driven mechanism including linear springs and ultrasonic motor

In this study, in order to improve steering stability during turning, we devised an inner and outer wheel driving force control system that is based on the steering angle and steering angular velocity, and verified its effectiveness via running tests. In the driving force control system based on steering angle, the inner wheel driving force is weakened in proportion to the steering angle during a turn, and the difference in driving force is applied to the inner and outer wheels by strengthening the outer wheel driving force. In the driving force control (based on steering angular velocity), the value obtained by multiplying the driving force constant and the steering angular velocity, that differentiates the driver steering input during turning output as the driving force of the inner and outer wheels. By controlling the driving force of the inner and outer wheels, it reduces the maximum steering angle by 40 deg and it became possible to improve the cornering marginal performance and improve the steering stability at the J-turn. In the pylon slalom it reduces the maximum steering angle by 45 deg and it became possible to improve the responsiveness of the vehicle. Control by steering angle is effective during steady turning, while control by steering angular velocity is effective during sharp turning. The inner and outer wheel driving force control are expected to further improve steering stability.

Download Full-text

A Polishing Robot Force Control System Based on Time Series Data in Industrial Internet of Things

ACM Transactions on Internet Technology ◽

10.1145/3419469 ◽

2021 ◽

Vol 21 (2) ◽

pp. 1-22

Author(s):

Chen Zhang ◽

Zhuo Tang ◽

Kenli Li ◽

Jianzhong Yang ◽

Li Yang

Keyword(s):

Time Series ◽

Control System ◽

Force Control ◽

Time Series Data ◽

Industrial Robot ◽

Industrial Robots ◽

Series Data ◽

Industrial Internet Of Things ◽

Industrial Internet ◽

Force Control System

Installing a six-dimensional force/torque sensor on an industrial arm for force feedback is a common robotic force control strategy. However, because of the high price of force/torque sensors and the closedness of an industrial robot control system, this method is not convenient for industrial mass production applications. Various types of data generated by industrial robots during the polishing process can be saved, transmitted, and applied, benefiting from the growth of the industrial internet of things (IIoT). Therefore, we propose a constant force control system that combines an industrial robot control system and industrial robot offline programming software for a polishing robot based on IIoT time series data. The system mainly consists of four parts, which can achieve constant force polishing of industrial robots in mass production. (1) Data collection module. Install a six-dimensional force/torque sensor at a manipulator and collect the robot data (current series data, etc.) and sensor data (force/torque series data). (2) Data analysis module. Establish a relationship model based on variant long short-term memory which we propose between current time series data of the polishing manipulator and data of the force sensor. (3) Data prediction module. A large number of sensorless polishing robots of the same type can utilize that model to predict force time series. (4) Trajectory optimization module. The polishing trajectories can be adjusted according to the prediction sequences. The experiments verified that the relational model we proposed has an accurate prediction, small error, and a manipulator taking advantage of this method has a better polishing effect.

Download Full-text

Research of Pneumatic Polishing Force Control System Based on High Speed On/off with PWM Controlling

Robotics and Computer-Integrated Manufacturing ◽

10.1016/j.rcim.2021.102133 ◽

2021 ◽

Vol 70 ◽

pp. 102133 ◽

Cited By ~ 1

Author(s):

Jinlong Dong ◽

Jiashun Shi ◽

Cong Liu ◽

Tianbiao Yu

Keyword(s):

Control System ◽

Force Control ◽

High Speed ◽

Force Control System ◽

Polishing Force

Download Full-text

A voice coil motor based measuring force control system for tactile scanning profiler

10.1117/12.2181350 ◽

2015 ◽

Author(s):

Shengdong Feng ◽

Xiaojun Liu ◽

Liangzhou Chen ◽

Liping Zhou ◽

Wenlong Lu

Keyword(s):

Control System ◽

Force Control ◽

Voice Coil Motor ◽

Force Control System ◽

Measuring Force

Download Full-text