Tuned dither for friction suppression during force-guided robotic assembly
Tuned dither for friction suppression during force-guided robotic assembly
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DOI：
10.1109/iros.1995.525813
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发表时间：
1995-08
期刊：
影响因子：
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通讯作者：
Susan L. Ipri;H. Asada
中科院分区：
文献类型：
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作者：
Susan L. Ipri;H. Asada
摩擦和粘滑现象是装配任务中干扰的主要来源，特别是在低速或频繁启动/停止条件下。这些摩擦效应是高度非线性的，依赖于环境参数，产生的力在所有条件下都很难精确建模。本文讨论了摩擦接触的背景下，机器人装配基于基本的物理现象。提出了一种采用高频抖动的方法来减小零件相对运动时摩擦的影响。该抖动的参数在线调整，以说明操作条件的变化。该调谐算法根据力反馈测量和所需力的模型来调整抖动参数。分析表明，存在一组最优参数。实验证明，即使在存在不确定或变化的系统模型参数的情况下，该算法也是成功的。讨论包括考虑以前的摩擦研究和结合力引导控制。
Friction and stick/slip phenomena are a major source of disturbance in assembly tasks, especially under low velocity or frequent start/stop conditions. These friction effects are highly nonlinear, dependent on environmental parameters, and the resulting forces are extremely difficult to model accurately under all conditions. This paper discusses frictional contacts in the context of robotic assembly based on the underlying physics of the phenomenon. A technique employing a high frequency dither is presented which reduces the effect of friction between parts in relative motion. The parameters of this dither are tuned on-line to account for changes in the operating conditions. This tuning algorithm adjusts the dither parameters based on force feedback measurements and a model for the desired forces. Analysis shows that a set of optimal parameters exists. Experimentation demonstrates the algorithm's success, even in the presence of uncertain or varying system model parameters. The discussion includes consideration of previous friction studies and combination with force-guided control.