An adaptive control strategy for robotic cutting
An adaptive control strategy for robotic cutting
复制标题
机器人切割的自适应控制策略
DOI：
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发表时间：
1997
期刊：
影响因子：
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通讯作者：
A. Hemami
中科院分区：
文献类型：
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作者：
Ganwen Zeng;A. Hemami
切割过程的自动化需要一个能够执行计划的切割工作的系统，而不考虑在此过程中经历的相互作用力。对于机器人切割机，控制器必须在符合未知环境限制和干扰的情况下，调整施加在被切割材料上的力。本文研究了刀片切割介质的问题。基于学习思想和位置、速度误差反馈，提出了一种控制该过程的算法。自适应位置控制器和切换逻辑速度控制器确保切割操作沿着期望的路径以期望的速度执行，同时采用学习控制策略来调整所需的切削力。后者是一种使用力反馈的力学习算法。仿真结果表明了该控制系统的有效性。
Automation of a cutting process requires a system that is able to perform a planned cutting work irrespective of the interaction forces experienced during this process. For a robotic cutter the controller must adjust the applied force exerted on the material to be cut, while complying with unknown environment restrictions and disturbances. In this paper the problem of cutting a media by a blade is investigated. Based on a learning philosophy and position and velocity errors feedback an algorithm for the control of such a process is presented. An adaptive position controller and a switching logical velocity controller ensure the cutting operation is performed along a desired path with a desired velocity, while a learning control strategy is employed to adjust the required cutting force. The latter is a force learning algorithm which uses the force feedback. The effectiveness of the presented control system is demonstrated by simulation results.