Friction compensation in hybrid force/velocity control of industrial manipulators

2006 ◽  
Vol 53 (2) ◽  
pp. 604-613 ◽  
Author(s):  
F. Jatta ◽  
G. Legnani ◽  
A. Visioli
Keyword(s):  
Friction Compensation ◽  
Velocity Control ◽  
Industrial Manipulators ◽  
Force Velocity

Force/Velocity Control of a Pneumatic Gantry Robot for Contour Tracking With Neural Network Compensation

2008 ◽  
Author(s):  
Mohammed Abu-Mallouh ◽  
Brian Surgenor
Keyword(s):  
Neural Network ◽  
Coulomb Friction ◽  
Tangential Velocity ◽  
Limiting Factor ◽  
Contour Tracking ◽  
Velocity Control ◽  
Hybrid Controller ◽  
Controller Performance ◽  
Force Velocity ◽  
Gantry Robot

In this paper, the application of a pneumatic gantry robot to contour tracking is examined. A hybrid controller is structured to control the contact force and the tangential velocity, simultaneously. A previous study provided controller tuning and model validation results for a fixed gain PI-based force/velocity controller. Performance was limited by system lag and Coulomb friction. New results demonstrate that even with perfect friction compensation, the limiting factor is the system lag. A neural network (NN) compensator was subsequently developed to counter both effects. Results for straight and curved edged workpieces are presented to demonstrate the effectiveness of the NN compensator and the capabilities of a pneumatic gantry robot.

Automatic Swing Door for a Passenger Car by Using Parallel Force/Velocity Actuator (PFVA)

2013 ◽  
Vol 278-280 ◽  
pp. 641-646 ◽  
Author(s):  
Min Kyu Park ◽  
Dinesh Rabindran ◽  
Delbert Tesar ◽  
Byoungsoo Lee ◽  
Kum Gil Sung
Keyword(s):  
Gear Train ◽  
Reduction Gear ◽  
Velocity Control ◽  
Simulation Environment ◽  
Passenger Car ◽  
Reference Velocity ◽  
Single Output ◽  
Force Velocity ◽  
Feasibility Test ◽  
Force Compensation

A vehicle's door is frequently used by a driver or passengers. When a vehicle is parked at incline, it is not easy to open or close doors because of gravity force and external disturbances. Moreover, there might cause a safety problems for a weak or a disabled person. Therefore, there is increasing demand for automation of vehicle's door. In this study, an automatic swing door mechanism for a passenger car is proposed by using a parallel force/velocity actuator (PFVA) based on a Dual-Input-Single-Output (DISO) framework. PFVA has two distinct actuators. One is force actuator(FA) with a low reduction gear train, the other is velocity actuator(VA) with a high reduction gear train. It can be effectively used in combining velocity control with force compensation application. First, we formulated a kinematics and a dynamics of automatic swing door system with PFVA as input, and then a simulation environment was developed for a feasibility test by using a kinematic and a dynamic model. Finally, a velocity control with force compensation was performed by using the developed simulation environment. VA was faithfully followed a reference velocity trajectory for opening and closing a door, and FA was able to compensate a gravity torque and an inertial disturbance torque coming from the VA.

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