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A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
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A Compliant Force Control Scheme for Industrial Robot Interactive Operation.

Xianfa Xue1, Haohui Huang2, Lei Zuo3

  • 1Key Laboratory of Autonomous Systems and Networked Control, School of Automation Science and Engineering, South China University of Technology, Guangzhou, China.

Frontiers in Neurorobotics
|April 11, 2022
PubMed
Summary
This summary is machine-generated.

This study introduces an adaptive compliant control framework for industrial robots, enabling precise interaction for tasks like grinding 3C products. The proposed method ensures stable robot grinding on curved surfaces with controlled interaction forces.

Keywords:
DMP generalizationadaptive compliant control frameworkgrinding experimentsposition deviationsingle point demonstration

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Area of Science:

  • Robotics
  • Manufacturing Engineering
  • Control Systems

Background:

  • Smart manufacturing demands advanced industrial robot capabilities for precise interaction.
  • Industrial robot compliant interaction is crucial for tasks like grinding 3C products.
  • Existing control methods may not fully address the complexities of compliant robot interaction.

Purpose of the Study:

  • To propose an adaptive compliant control framework for industrial robot interaction.
  • To enhance the compliant interaction ability of robots in manufacturing applications.
  • To ensure stable and controlled interaction forces during grinding operations.

Main Methods:

  • Reference trajectory generation using single-point demonstration and Dynamic Movement Primitive (DMP) generalization.
  • Development of an adaptive feedforward and impedance force controller based on position errors.
  • Integration into an admittance controller to calculate position deviation updates.

Main Results:

  • Successful demonstration of compliant interaction, with a grinding head fitting a curved surface.
  • Experimental validation showing interaction forces within the expected range during grinding.
  • Comparative experiments confirming the effectiveness of the proposed adaptive compliant control framework.

Conclusions:

  • The proposed adaptive compliant control framework effectively enables precise and stable robot interaction.
  • The method is suitable for industrial applications requiring compliant manipulation, such as grinding.
  • The framework offers a robust solution for enhancing industrial robot performance in complex tasks.