ISSN:
1662-9752
Source:
Scientific.Net: Materials Science & Technology / Trans Tech Publications Archiv 1984-2008
Topics:
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
Notes:
To achieve the desired dynamic impedance and the smooth chamfer contour, someadaptive controls and intelligent control schemes are incorporated in the impedance control foruncertain constrained robot systems. Most of them still result in an uneven chamfer for itscharacteristics in nature as the burrs vary highly. In this paper, an intelligent force controller based onimpedance control with a neural network compensator is proposed for the robotic deburring process.The compensator is used to deal with the various burrs by modifying the input command according tothe contact force and reference position. The performance of the intelligent force controller iscompared with the conventional impedance control. The effectiveness of the proposed approach istestified by simulation experiments of the robotic deburring process
Type of Medium:
Electronic Resource
URL:
http://www.tib-hannover.de/fulltexts/2011/0528/02/14/transtech_doi~10.4028%252Fwww.scientific.net%252FMSF.532-533.456.pdf
Permalink