scholarly journals Human-robot collaboration for surface treatment tasks

2019 ◽  
Vol 20 (1) ◽  
pp. 148-184
Author(s):  
Luis Gracia ◽  
J. Ernesto Solanes ◽  
Pau Muñoz-Benavent ◽  
Jaime Valls Miro ◽  
Carlos Perez-Vidal ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Surface Treatment ◽  
Sliding Mode ◽  
Experimental Results ◽  
Force Sensors ◽  
End Effector ◽  
Mode Control ◽  
Task Priority ◽  
Human Robot Collaboration ◽  
Collaborative Robot

Abstract This paper presents a human-robot closely collaborative solution to cooperatively perform surface treatment tasks such as polishing, grinding, finishing, deburring, etc. The proposed scheme is based on task priority and non-conventional sliding mode control. Furthermore, the proposal includes two force sensors attached to the manipulator end-effector and tool: one sensor is used to properly accomplish the surface treatment task, while the second one is used by the operator to guide the robot tool. The applicability and feasibility of the proposed collaborative solution for robotic surface treatment are substantiated by experimental results using a redundant 7R manipulator: the Sawyer collaborative robot.

Sliding Mode Control for Wheeled Inverted Pendulum

2014 ◽  
Vol 971-973 ◽  
pp. 714-717 ◽  
Author(s):  
Xiang Shi ◽  
Zhe Xu ◽  
Qing Yi He ◽  
Ka Tian
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
High Performance ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Experimental Results ◽  
Control Law ◽  
Collaborative Simulation ◽  
Mode Control ◽  
Wheeled Inverted Pendulum

To control wheeled inverted pendulum is a good way to test all kinds of theories of control. The control law is designed, and it based on the collaborative simulation of MATLAB and ADAMS is used to control wheeled inverted pendulum. Then, with own design of hardware and software of control system, sliding mode control is used to wheeled inverted pendulum, and the experimental results of it indicate short adjusting time, the small overshoot and high performance.

scholarly journals Human-robot cooperation for robust surface treatment using non-conventional sliding mode control

2018 ◽  
Vol 80 ◽  
pp. 528-541 ◽  
Author(s):  
J. Ernesto Solanes ◽  
Luis Gracia ◽  
Pau Muñoz-Benavent ◽  
Jaime Valls Miro ◽  
Vicent Girbés ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Surface Treatment ◽  
Sliding Mode ◽  
Mode Control ◽  
Robot Cooperation

scholarly journals Sliding Mode Control of Magnetic Bearings: Comparison of Sensed and Self Sensing Performance

1999 ◽  
Author(s):  
S. Ueno ◽  
J. H. Lee ◽  
P. E. Allaire ◽  
Y. Okada
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Angular Displacement ◽  
State Space Model ◽  
Experimental Results ◽  
Magnetic Bearings ◽  
Small Scale ◽  
Linear Component ◽  
Mode Control ◽  
Physical Sensors

A sliding mode control algorithm has been designed for control of a balance beam on two symmetric magnetic bearings. A state space model of the system is developed and the controller is separated into a linear and non-linear component. A reaching condition to bring the system to the sliding surface is developed and a continuous function boundary layer approach is evaluated to avoid chattering. Previous works have discussed theoretical and experimental sliding mode control with physical sensors. This paper represents the first use of a simple envelope filter for sliding mode self sensing. The system simulation demonstrates arrival at the hyperplane surface within 0.003 sec and converges to the zero angular displacement value within 0.008 sec. Experimental results produced system convergence to zero angular displacement within approximately 0.35 sec both for the case when an eddy current position sensor was used and the case when system self sensing was employed. Some small scale chatter was observed in the experimental results with a peak to peak magnitude of approximately 3 times larger in the self-sensing case as compared to the case with a physical sensor.

scholarly journals Adaptive Sliding Mode Control for Robotic Surface Treatment Using Force Feedback

Mechatronics ◽  
2018 ◽  
Vol 52 ◽  
pp. 102-118 ◽  
Author(s):  
Luis Gracia ◽  
J. Ernesto Solanes ◽  
Pau Muñoz-Benavent ◽  
Jaime Valls Miro ◽  
Carlos Perez-Vidal ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Surface Treatment ◽  
Force Feedback ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Adaptive Sliding Mode ◽  
Mode Control
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