Designing of damping control parameters for peg-in-hole considering cycle time
Designing of damping control parameters for peg-in-hole considering cycle time
复制标题
考虑循环时间的孔桩阻尼控制参数设计
DOI：
10.1109/robot.2004.1307976
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发表时间：
2004
期刊：
影响因子：
--
通讯作者：
T. Arai
中科院分区：
文献类型：
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作者：
N. Yamanobe;Y. Maeda;T. Arai
在机器人装配过程中，为了保证装配作业的顺利进行，必须设计合适的力控制参数。此外，在工业应用中，获得可以缩短执行操作的周期时间的控制参数是非常重要的。在本文中，我们提出了一种方法来获得控制参数，通过重复模拟的装配操作，以估计周期时间，因为它是很难计算的周期时间解析。首先，在初步实验的基础上开发了一个机器人桩孔操作的模拟器。然后，我们制定我们提出的方法作为一个优化问题，并使用模拟器解决问题。最后给出了优化结果。
It is necessary to design appropriate parameters of force control in robotic assembly so as to achieve successful operations. Moreover, obtaining control parameters that can shorten the cycle time to perform operations is very important in industrial applications. In this paper, we propose a method to obtain control parameters through repetitive simulation of an assembly operation in order to estimate the cycle time because it is difficult to calculate the cycle time analytically. First, a simulator of a robotic peg-in-hole operation is developed based on preliminary experiments. We then formulate our proposed method as an optimization problem and solve the problem using the simulator. Finally, results of the optimization are presented.