Robust Hybrid Position-Force Control for Robotic Surface Polishing

Ernesto Solanes, J; Gracia, L; Muñoz-Benavent, P; Valls Miro, J; Perez-Vidal, C; Tornero, J

Robust Hybrid Position-Force Control for Robotic Surface Polishing

Ernesto Solanes, J Gracia, L Muñoz-Benavent, P Valls Miro, J

Perez-Vidal, C Tornero, J

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Publication Type:: Journal Article
Citation:: Journal of Manufacturing Science and Engineering, Transactions of the ASME, 2019, 141 (1)
Issue Date:: 2019-01-01

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Field	Value	Language
dc.contributor.author	Ernesto Solanes, J	en_US
dc.contributor.author	Gracia, L	en_US
dc.contributor.author	Muñoz-Benavent, P	en_US
dc.contributor.author	Valls Miro, J https://orcid.org/0000-0002-0083-7797	en_US
dc.contributor.author	Perez-Vidal, C	en_US
dc.contributor.author	Tornero, J	en_US
dc.date.issued	2019-01-01	en_US
dc.identifier.citation	Journal of Manufacturing Science and Engineering, Transactions of the ASME, 2019, 141 (1)	en_US
dc.identifier.issn	1087-1357	en_US
dc.identifier.uri	http://hdl.handle.net/10453/129849
dc.description.abstract	© 2018 HMP Communications. All rights reserved. This work presents a hybrid position-force control of robots for surface polishing using task priority. The robot force control is designed using sliding mode ideas in order to benefit from its inherent robustness and low computational cost. In order to avoid the chattering drawback typically present in sliding mode control, several chattering-free controllers are evaluated and tested. A distinctive feature of the method is that the sliding mode force task is defined using not only equality constraints but also inequality constraints, which are satisfied using conventional and nonconventional sliding mode control, respectively. Moreover, a lower priority tracking controller is defined to follow the desired reference trajectory on the surface being polished. The applicability and the effectiveness of the proposed approach considering the mentioned chattering-free controllers are substantiated by experimental results using a redundant 7R manipulator.	en_US
dc.relation.ispartof	Journal of Manufacturing Science and Engineering, Transactions of the ASME	en_US
dc.relation.isbasedon	10.1115/1.4041836	en_US
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	Robust Hybrid Position-Force Control for Robotic Surface Polishing	en_US
dc.type	Journal Article
utslib.citation.volume	1	en_US
utslib.citation.volume	141	en_US
utslib.for	0910 Manufacturing Engineering	en_US
utslib.for	0913 Mechanical Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	closed_access
pubs.issue	1	en_US
pubs.publication-status	Published	en_US
pubs.volume	141	en_US

Abstract:

© 2018 HMP Communications. All rights reserved. This work presents a hybrid position-force control of robots for surface polishing using task priority. The robot force control is designed using sliding mode ideas in order to benefit from its inherent robustness and low computational cost. In order to avoid the chattering drawback typically present in sliding mode control, several chattering-free controllers are evaluated and tested. A distinctive feature of the method is that the sliding mode force task is defined using not only equality constraints but also inequality constraints, which are satisfied using conventional and nonconventional sliding mode control, respectively. Moreover, a lower priority tracking controller is defined to follow the desired reference trajectory on the surface being polished. The applicability and the effectiveness of the proposed approach considering the mentioned chattering-free controllers are substantiated by experimental results using a redundant 7R manipulator.

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http://hdl.handle.net/10453/129849