Integration of a Low-Cost Three-Axis Sensor for Robot Force Control

2018 ◽  
Author(s):  
Shuyang Chen ◽  
Jianren Wang ◽  
Peter Kazanzides
Keyword(s):  
Force Control ◽  
Low Cost ◽  
Robot Force Control

A Low-Cost Hexa Platform for Efficient Force Control Systems Using Industrial Manipulators

2009 ◽  
Vol 147-149 ◽  
pp. 1-6 ◽  
Author(s):  
Rafal Osypiuk ◽  
Torsten Kröger
Keyword(s):  
Control Systems ◽  
Force Control ◽  
Execution Time ◽  
Low Cost ◽  
Degree Of Freedom ◽  
Industrial Manipulators ◽  
Control Concept ◽  
Six Dof ◽  
Parallel Platform ◽  
Six Degree Of Freedom

This contribution presents a new force control concept for industrial six-degree of freedom (DOF) manipulators, which uses a Hexa platform that provides an active environmental stiffness for all six DOFs. The paper focuses on the Hexa platform and is split into two essential parts: (i) parallel platform construction, and (ii) application of force control with industrial manipulators using a six-DOF environmental stiffness. This mechatronic solution almost gives one hundred percent robustness for stiffness changes in the environment, what guaranties a significant shortening of execution time.

Embedded Force Control Gripper for Frangible Fruit Robotic Manipulation

2013 ◽  
Vol 284-287 ◽  
pp. 1841-1845
Author(s):  
Shiuh Jer Huang ◽  
Wei Han Chang ◽  
Janq Yann Lin
Keyword(s):  
Force Control ◽  
Hybrid Control ◽  
Sliding Mode ◽  
Control Function ◽  
Low Cost ◽  
Banana Fruit ◽  
Embedded Control ◽  
Model Free ◽  
Position Controller ◽  
Hybrid Control System

Here a low cost embedded robotic gripper with force control function is designed for frangible fruit manipulation. This embedded control gripper is integrated with a Mitsubishi robot based on FPGA control structure. The model-free intelligent fuzzy sliding mode control strategy is employed to design the position controller of each joint and gripper force controller, respectively. Experimental results of pick-and-place frangible small tomato and banana fruit are shown by pictures to evaluate this embedded position/force hybrid control system performance.

Neural Adaptive Approach-Application to Robot Force Control in an Unknown Environment

2006 ◽  
Vol 18 (5) ◽  
pp. 529-538 ◽  
Author(s):  
Yacine Amirat ◽  
◽  
Karim Djouani ◽  
Mohamed Kirad ◽  
Nadia Saadia ◽  
...  
Keyword(s):  
Force Control ◽  
Reference Model ◽  
Dynamic Properties ◽  
Parallel Robot ◽  
Smooth Transition ◽  
Environment Interaction ◽  
Adaptive Approach ◽  
Neural Network Controller ◽  
Interaction Dynamic ◽  
Robot Force Control

This paper presents an effective neural adaptive approach for robot force control with changing/unknown robot-environment interaction dynamic properties. In this approach, a multilayered neural network controller is trained at first off line from data collected during contact motion in order to perform a smooth transition from free to contact motion. Then, an adaptive process is implemented online through a desired impedance reference model such that the closed-loop system maintains a good performance and compensates for uncertain/unknown dynamics of the robot-environment interaction. The effectiveness of the proposed approach has been evaluated for the force control of a 6 DOF (Degree Of Freedom) C5-links parallel robot executing rectangular peg-in-hole insertions with weak tolerances. The experimental results demonstrate that the robot’s skill improves effectively and force control performances are good even if robot-environment interaction dynamic properties change.

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