Abstract
In this paper a gain scheduling approach is proposed for the hybrid force/velocity control of an industrial manipulator employed for the contour tracking of objects of unknown shape. The methodology allows to cope with the configuration dependent dynamics of the manipulator during a constrained motion and therefore a significant improvement of the performance results. Experimental results obtained with an industrial SCARA manipulator demonstrate the effectiveness of the technique.
Highlights
The capability of performing autonomously a contourtracking task of an object of unknown shape is required for an industrial robot manipulator in order to be successfully adopted, without the operator intervention, in many applications such as grinding
In order to make a step in the direction of solving those practical problems that often arise in industrial settings, a method to compensate for joint friction have been proposed in Jatta, F.; Legnani, G.; Visioli, A. 2006, the use of a velocity feedback in order to dampen oscillations that occur in a significant portion of the workspace due to the configuration dependent dynamics of the manipulator in a constrained motion has been discussed in Jatta, F.; Legnani, G.; Visioli, A.; Ziliani, G. 2006
5 Experimental results In order to verify the effectiveness of the gain scheduling approach an experimental campaign has been performed
Summary
The capability of performing autonomously a contourtracking task of an object of unknown shape is required for an industrial robot manipulator in order to be successfully adopted, without the operator intervention, in many applications such as grinding They are still very rarely employed in industrial settings, where the availability of these functionalities would be very appreciated in order to cut the production costs and to improve the quality of the products This might be due to the fact that many times new methods are diffcult to implement for the industrial context, where the cost/benefit ratio has to be always taken into account (for example they often involve an accurate estimation of the robot model), and their effectiveness is rarely discussed from an industrial point of view (for example there is a lack of experimental results that really show the cases where a given technique can be successfully adopted and where it may fail). The use of a gain scheduling approach in order to further enhance tracking performances over wider portions of the workspace and to allow reliable and effective operations in very different working conditions is proposed
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