St. Petersburg Polytechnical University Journal. Computer Science. Telecommunication and Control Systems
RUS  ENG    JOURNALS   PEOPLE   ORGANISATIONS   CONFERENCES   SEMINARS   VIDEO LIBRARY   PACKAGE AMSBIB  
General information
Latest issue
Archive

Search papers
Search references

RSS
Latest issue
Current issues
Archive issues
What is RSS



Computing, Telecommunication and Control:
Year:
Volume:
Issue:
Page:
Find






Personal entry:
Login:
Password:
Save password
Enter
Forgotten password?
Register


St. Petersburg Polytechnical University Journal. Computer Science. Telecommunication and Control Systems, 2015, Issue 4(224), Pages 70–80
DOI: https://doi.org/10.5862/JCSTCS.224.7
(Mi ntitu117)
 

This article is cited in 1 scientific paper (total in 1 paper)

System Analysis and Control

Mechanics models in the control problem of the force interaction between a robot and a free-formed surface

S. F. Burdakov, O. B. Shagniev

Peter the Great Saint-Petersburg Polytechnic University
Full-text PDF (784 kB) Citations (1)
Abstract: The example of the problem of controlling the force interaction of a robot with a free-formed surface shows the crucial role of mechanics models in obtaining high-quality implementations of the desired motions. Adequate mechanics models are needed both for coordinating the inertial and stiffness characteristics of the robot and the force sensor, and for choosing the structure and configuration of the position-force control, as well as when selecting the implemented desired motions. The article describes a positioning mode with the release of the robot to contact the surface and a force control mode of the robot interacting with surface. We investigated the algorithms of position-force control with a PID-controller and an integral compensator. The article shows the possibility of further enhancing the quality of control by correcting the required motion by learning.
Keywords: robot, free-formed surface, force sensing, mechanics models, position-force control, learning.
Document Type: Article
UDC: 681.51
Language: Russian
Citation: S. F. Burdakov, O. B. Shagniev, “Mechanics models in the control problem of the force interaction between a robot and a free-formed surface”, St. Petersburg Polytechnical University Journal. Computer Science. Telecommunication and Control Sys, 2015, no. 4(224), 70–80
Citation in format AMSBIB
\Bibitem{BurSha15}
\by S.~F.~Burdakov, O.~B.~Shagniev
\paper Mechanics models in the control problem of the force interaction between a robot and a free-formed surface
\jour St. Petersburg Polytechnical University Journal. Computer Science. Telecommunication and Control Sys
\yr 2015
\issue 4(224)
\pages 70--80
\mathnet{http://mi.mathnet.ru/ntitu117}
\crossref{https://doi.org/10.5862/JCSTCS.224.7}
Linking options:
  • https://www.mathnet.ru/eng/ntitu117
  • https://www.mathnet.ru/eng/ntitu/y2015/i4/p70
  • This publication is cited in the following 1 articles:
    Citing articles in Google Scholar: Russian citations, English citations
    Related articles in Google Scholar: Russian articles, English articles
    Computing, Telecommunication and Control
    Statistics & downloads:
    Abstract page:121
    Full-text PDF :54
     
      Contact us:
     Terms of Use  Registration to the website  Logotypes © Steklov Mathematical Institute RAS, 2024