Robotic assembly automation using robust compliant control

Robotics and Computer-Integrated Manufacturing

Volumn 29, Issue 2, 2013, Pages 293-300

  Chen, Heping ^a   Liu, Yong ^b  

^a Texas State University   (United States)

^b NANJING UNIVERSITY OF SCIENCE AND TECHNOLOGY   (China)

Author keywords

Assembly automation; Industrial robot; Robust impedance control; Variable structure

Indexed keywords

ASSEMBLY AUTOMATION; ASSEMBLY PROCESS; ASSEMBLY TASKS; CONTROL METHODS; CONTROL STRATEGIES; DYNAMIC CONSTRAINTS; DYNAMIC PARAMETERS; EDGE CONNECTORS; INSERTION OPERATIONS; MODEL-BASED CONTROL METHODS; PARAMETER UNCERTAINTY; ROBOTIC SYSTEMS; ROBUST IMPEDANCE CONTROL; SCARA ROBOT; VARIABLE STRUCTURES;

ALGORITHMS; DYNAMIC MODELS; INDUSTRIAL ROBOTS; ROBOTIC ASSEMBLY;

ROBUST CONTROL;

EID: 84868546228     PISSN: 07365845     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.rcim.2012.09.001     Document Type: Article

References (15)

1. Kroger T, Finkemeyer B, Heuck M, Wahl F. Adaptive implicit hybrid force/pose control of industrial manipulators: compliant motion experiments. In: IEEE/RSJ international conference on intelligent robots and systems, Sendai, Japan; September 2004. p. 816-21.
2. Hogan N. Impedance control: an approach to manipulator: Part 1-theory, Part 2-implementations, Part 3-applications. ASME Journal of Dynamic Systems, Measurement, and Control 1985;107:1-24.
3. N. Hogan On the stability of manipulators performing contact tasks IEEE Journal of Robotics and Automation 4 6 1988 677 686
4. H. Kazerooni, B.J. Waibel, and S. Kim On the stability of robot compliant motion control theory and experiments ASME Journal of Dynamic Systems, Measurement, and Control 112 1990 417 426
5. M. Salehi, and G. Vossoughi Impedance control of flexible base mobile manipulator using singular perturbation method and sliding mode control law International Journal of Control, Automation, and Systems 6 2008 677 688
6. M.R. Soltanpour, and S.E. Shafiei Robust adaptive control of manipulators in the task space by dynamical partitioning approach Electronics and Electrical Engineering 73 2010 73 78
7. Craig JJ. Introduction to robotics: mechanics and control, 2nd ed. Reading, Massachusetts, USA: Addison-Wesley; 1989.
8. B. Yao, S.P. Chan, and D. Wang Unified formulation of variable structure control schemes for robot manipulators IEEE Transactions on Automatic Control 39 2 1994 371 376
9. Vidyasagar M. Nonlinear systems analysis. Englewood Cliffs, NJ, USA: Prentice-Hall Inc.; 1993.
10. Yao B, Gao B, Chan SP. Robust constrained motion control of multi-arm robots holding a common object. In: Proceedings of the 16th annual conference of IEEE industrial electronics society (IECON90), Pacific Grove, California; November 1990. p. 232-37.
11. R.A. Horn, and C.R. Johnson Matrix analysis 1992 Cambridge University Press Cambridge
12. Greenwood DT. Principles of dynamics. Englewood Cliffs, NJ, USA: Prentice-Hall Inc.; 1980.
13. R.P. Paul Robot manipulators 1981 MIT Press Cambridge, MA, USA
14. Hung JY, Hung JC. Chatter reduction in variable structure control. In: Proceedings of the 20th international conference on industrial electronics, control, and instrumentation (IECON94), Bologna, Italy; September 1994. p. 1914-18.
15. J.J.E. Slotine The robust control of robot manipulators International Journal of Robotics Research 4 2 1985 49 64