An adaptive impedance control method for polishing system of an optical mirror processing robot

To solve the constant contact force control problem between the end tool of a 5 degrees of freedom hybrid optical mirror processing robot and a workpiece, an adaptive impedance control method for the pneumatic servo-polishing system of the robot is designed. Firstly, the pneumatic servo-polishing co...

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Veröffentlicht in:	Robotica 2024-01, Vol.42 (1), p.21-39
Hauptverfasser:	Tian, Xujing, Lv, Mengyao, Sun, Jiazheng, Zhao, Hongzheng, Jiang, Ziyuan, Han, Jinshuo, Gu, Wei, Cheng, Gang
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptive control Automation CAD Compliance Computer aided design Contact force Control methods Controllers Error analysis Error reduction Grinding tools Impedance Mathematical analysis Mathematical models Motion control Personal computers Polishing Robots Sensors Servocontrol Steady state Stiffness Tracking Workpieces
Online-Zugang:	Volltext
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