Journal of Guangxi Normal University(Natural Science Edition) ›› 2020, Vol. 38 ›› Issue (2): 121-127.doi: 10.16088/j.issn.1001-6600.2020.02.014

Previous Articles     Next Articles

Event Based Robot Hybrid Acitive-Passive Force-Position Control Method

XIE Xiaohui*, SUN Lining, ZHANG Fengfeng   

  1. Robotics and Microsystems Center, Soochow University, Soochow Jiangsu 215006, China
  • Received:2018-11-06 Published:2020-04-02

Abstract: It’s hard to get the contact force of screw turning accurately in a robot system. If a force sensor is used to detect the contact force, there are lots of problems, such as, it is hard to fix the sensor and noise of sensor or transmission delay of signal may affect the accuracy of system control. In this paper, instead of using the force sensor to detect the force. the torque value of the servo motor is used to compute the contact force between the head of screw driver and the work-piece. The expected locking torque is used as the threshold value in the control system design and the energy regulator is used in energy correction to balance the predictive force value and current calculation force value, in order that the control system of robot screwing system can be stable in passivity and active compliance. In the automatic screwing process of a precision plastic, the passive flexible mechanic and event based control method is designed to test the safety and feasibility of the presented hybrid acitive-passive force-position control method.

Key words: robot, force-position control, hybrid active-passive, event-based

CLC Number: 

  • TP242.2
[1] SHIN W H,KWON D S.Surgical robot system for single-port surgery with novel joint mechanism[J].IEEE Transactions on Biomedical Engineering,2013,60(4):937-944.DOI:10.1109/TBME.2013.2242070.
[2] 高道祥,薛定宇,陈大力.机器人位置/力混合鲁棒自适应控制[J].系统仿真学报,2007,19(2):348-351.DOI: 10.16182/j.cnki.joss.2007.02.030.
[3] 张峰峰,谢小辉,杜志江,等.遥操作的波域预测理论及其应用[J].哈尔滨工业大学学报,2008,40(11):1726 -1731.
[4] TSAI M J,CHANG J L,HAUNG J F.Development of an automatic mold polishing system[J].IEEE Transactions on Automation Science and Engineering,2005,2(4):393-397.DOI:10.1109/TASE.2005.853723.
[5] NISKY I,MUSSA-IVALDI F A,KARNIEL A.Analytical study of perceptual and motor transparency in bilateral teleoperation[J].IEEE Transactions on Human-Machine Systems,2013,43(6):570-582.DOI:10.1109/TSMC. 2013.2284487.
[6] SERAJI H,COLBAUGH R.Force tracking in impedance control[J].International Journal of Robotics Research, 1997,16(1):97-117.DOI:10.1177/027836499701600107.
[7] SÖRNMO O,ROBERTSSON A,WANNER A.Force controlled knife-grinding with industrial robot[C]//2012 IEEE International Conference on Control Applications.Piscataway,NJ:IEEE Press,2012:1356-1361.DOI: 10.1109/CCA.2012.6402362.
[8] HUANGA Q,ENOMOTO R.Hybrid position,posture,force and moment control of robot manipulators[C]// Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics.Piscataway,NJ:IEEE Press,2009:1444-1450.DOI:10.1109/ROBIO.2009.4913213.
[9] BERKELMAN P,OKAMOTO S.Compact modular system design for teleoperated laparoendoscopic single site surgery[C]//2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics.Piscataway,NJ:IEEE Press,2012:905-906.DOI:10.1109/BioRob.2012.6290932.
[10]张庆伟,韩利利,徐方,等.基于打磨机器人的力/位混合控制策略研究[J].化工自动化及仪表,2012,39(7):884-887.DOI:10.3969/j.issn.1000-3932.2012.07.013.
[11]AMMAR H.Optical flow based waveform for the assessment of the vocal fold vibrations[J]. Australasian Physical and Engineering Sciences in Medicine,2019,42(1):91-109.DOI:10.1007/s13246-018-0717-9.
[12]LIU Siyuan,BAO Haojing,ZHANG Yunhui,et al.Research on image enhancement of light stripe based on template matching[J].EURASIP Journal on Image and Video Processing,2018,2018:124.DOI: 10.1186/s13640-018-0362-y.
[13]TAKIYAMA T,YOSHIKAWA T,NOH J,et al.PI and adaptive model matching control system that satisfies the setting settling time application to engine speed control[J].IFAC-Papers Online,2018,51(4):394-399. DOI:10.1016/j.ifacol.2018.06.126.
[14]DUNG L T, KANG H J, RO Y S. Robot manipulator modeling in Matlab-Simmechanics with PD control and online gravity compensation[C]//International Forum on Strategic Technology 2010. Piscataway, NJ: IEEE Press, 2010:446-449. DOI:10.1109/IFOST.2010.5668085.
[15]SU Yuxin, PARRA-VEGA V. Global asymptotic saturated output feedback control of robot manipulators[C]//Proceedings of the 7th World Congress on Intelligent Control and Automation. Piscataway, NJ:IEEE Press, 2008:3445-3450. DOI:10.1109/WCICA. 2008.4594498.
[16]胡鹏.Kalman滤波在视频目标跟踪中的应用研究[D].重庆:重庆大学,2010.
[17]余乐,郑力新.基于卡尔曼滤波的动态目标跟踪[J].微型机与应用,2016,35(16):44-45,52.DOI:10.19358/ j.issn.1674-7720.2016.16.013.
[18]王炜.基于视觉引导的机器人系统标定及跟随控制的问题研究[D].武汉:湖北工业大学,2017.
[19]龚小彪.基于TLD框架的目标跟踪算法研究[D].成都:西南交通大学,2014.
[20]刘松青.基于图像特征的机械臂视觉伺服控制研究[D].北京:北京理工大学,2015.
[1] DING Lei, WANG Hao, FANG Bao-fu, ZHANG Quan-yi. Multi-player Pursuit Algorithm Based on Fast Marching Method [J]. Journal of Guangxi Normal University(Natural Science Edition), 2011, 29(3): 115-119.
[2] LIU Wei, WANG Hao, FANG Bao-fu. RoboCup-Rescue Decision Making Process Based on Binary Particle Swarm Optimization [J]. Journal of Guangxi Normal University(Natural Science Edition), 2011, 29(2): 130-133.
Viewed
Full text


Abstract

Cited

  Shared   
  Discussed   
[1] MENG Chunmei, LU Shiyin, LIANG Yonghong, MO Xiaomin, LI Weidong, HUANG Yuanjie, CHENG Xiaojing, SU Zhiheng, ZHENG Hua. Electron Microscopy Study on the Apoptosis and Autophagy of the Hepatic Stellate Cells Induced by Total Alkaloids[J]. Journal of Guangxi Normal University(Natural Science Edition), 2018, 36(3): 76 -79 .
[2] WEI Hongjin, ZHOU Xile, JIN Dongmei, YAN Yuehong. Additions to the Pteridophyte Flora of Hunan, China[J]. Journal of Guangxi Normal University(Natural Science Edition), 2018, 36(3): 101 -106 .
[3] BAO Jinping, ZHENG Lianbin, YU Keli, SONG Xue, TIAN Jinyuan, DONG Wenjing. Skinfold Thickness Characteristics of Yi Adults in Daliangshan,China[J]. Journal of Guangxi Normal University(Natural Science Edition), 2018, 36(3): 107 -112 .
[4] LIN Yongsheng, PEI Jianguo, ZOU Shengzhang, DU Yuchao, LU Li. Red Bed Karst and Its Hydrochemical Characteristics of Groundwater in the Downstream of Qingjiang River, China[J]. Journal of Guangxi Normal University(Natural Science Edition), 2018, 36(3): 113 -120 .
[5] ZHANG Ru, ZHANG Bei, REN Hongrui. Spatio-temporal Dynamics Analysis and Its Affecting Factors of Cropland Loss in Xuangang Mining Area, Shanxi, China[J]. Journal of Guangxi Normal University(Natural Science Edition), 2018, 36(3): 121 -132 .
[6] LI Xianjiang, SHI Shuqin, CAI Weimin, CAO Yuqing. Simulation of Land Use Change in Tianjin Binhai New Area Based on CA-Markov Model[J]. Journal of Guangxi Normal University(Natural Science Edition), 2018, 36(3): 133 -143 .
[7] WANG Mengfei, HUANG Song. Spatial Linkage of Tourism Economy of Cities in West River Economic Belt in Guangxi, China[J]. Journal of Guangxi Normal University(Natural Science Edition), 2018, 36(3): 144 -150 .
[8] LIU Ming, ZHANG Shuangquan, HE Yude. Classification Study of Differential Telecom Users Based on SOM Neural Network[J]. Journal of Guangxi Normal University(Natural Science Edition), 2018, 36(3): 17 -24 .
[9] HUANG Yanping, WEI Yuming. Multiple Solutions of Multiple-points Boundary Value Problem for a Class of Fractional Differential Equation[J]. Journal of Guangxi Normal University(Natural Science Edition), 2018, 36(3): 41 -49 .
[10] HUANG Rongli, LI Changyou, WANG Minqing. Bernstein's Theorem for a Class of Ordinary Differential Equations Ⅱ[J]. Journal of Guangxi Normal University(Natural Science Edition), 2018, 36(3): 50 -55 .