Design of damping control parameters for peg-in-hole by industrial manipulator considering cycle time
Design of damping control parameters for peg-in-hole by industrial manipulator considering cycle time
复制标题
考虑循环时间的工业机械手孔钉阻尼控制参数设计
DOI：
10.1109/iros.2004.1389934
复制
发表时间：
2004
期刊：
影响因子：
--
通讯作者：
Kokoro Hatanaka
中科院分区：
文献类型：
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作者：
N. Yamanobe;Y. Maeda;T. Arai;T. Kato;Takashi Sato;Kokoro Hatanaka
设计合适的力控制参数是机器人装配成功的必要条件。此外，获得能够缩短执行操作周期的控制参数在工业应用中非常重要。在本文中，我们提出了一种设计阻尼控制参数的方法，该方法可以缩短周期时间并显示通过该方法获得的参数的有效性。由于循环时间难以解析计算，该方法通过对装配工序的反复模拟得到次最优参数，以估计周期时间。我们将该方法应用于钉孔作业，并利用该方法获得的控制参数给出了实验结果。
Designing appropriate force control parameters is necessary in robotic assembly for 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 present a method to design damping control parameters that can shorten the cycle time and show the effectiveness of the parameters obtained through the method. In the method, sub-optimal parameters are obtained through repetitive simulations of assembly operations in order to estimate the cycle time because it is difficult to calculate the cycle time analytically. We apply the method to peg-in-hole operations and show experimental results using the control parameters obtained through the method.