Compliance error compensation of a robot end-effector with joint stiffness uncertainties for milling: An analytical model

Nguyen, Vu Linh; Kuo, Chin-Hsing; Lin, Po Ting

doi:10.1016/j.mechmachtheory.2021.104717

Cited by 28 publications

(6 citation statements)

References 53 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…With the adjusted pose, this problem is turned into the IK problem of the manipulator. In this work, the IK model is established based on screw-based IK sub-problems proposed in our previous work, 32 where sub-problems are converted into the solving of an equation set composed of several quadratic and linear equations. The kinematics parameters of the manipulator is shown as Figure 5.…”

Section: Models Of Performance Indexesmentioning

confidence: 99%

“…Moreover, the motion accuracy of the manipulator is mainly affected by the positioning accuracy of the mobile device (PAMD), the manipulator flexibility (MF) when the robot operates with high-load end-effector tool, and interpolation planning (IP). In previous studies, PAMD was always controlled based on visual feedback, like reference reports 30, 31 ; the end-effector motion error caused by MF can be effectively predicted and compensated accurately through mathematical modeling based on the complex dynamics analysis of joints and links 32 ; for the continuous trajectory task, the trajectory tracking error 33 caused by IP can be calculated by the difference between planned and desired trajectory. From the above discussion, time-consuming calculations of performance models during optimization iteration have the major impact on the execution time of the algorithm.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

HCDR-based motion planning for mobile manipulators with the continuous trajectory task

Xu,

Tao,

Pei

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

Mobile manipulators have been widely used in modern industrial fields due to their advantages of large operating workspace and high motion dexterity. For the application, the path planning has been a core foundation for its motion control. However, as the environmental complexity and performance requirements increase, existing methods are limited by low execution efficiency, and lack of comprehensive consideration of motion performances. A motion planning technique is proposed for mobile manipulators with continuous trajectory task. In this technique, a hierarchical constraints dimension reduction (HCDR) strategy is presented based on the task decomposition and performance requirements analysis of each stage. HCDR strategy aims to improve the execution efficiency of the algorithm through local operations of performance constraints and the local simplification of the distance calculation at different stages of the task. Models of inverse kinematics and performance indexes are established to provide basis for constraint conditions, including distance models with different accuracy, manipulability index model and trajectory tracing error model. Two optimization strategies are presented to solve the motion planning problem considering the overall performance of the system. And simulation results show that the three-level strategy has the higher convergence efficiency than the bi-level strategy, as well as can guarantee the motion performance of the system.

show abstract

Section: Models Of Performance Indexesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

HCDR-based motion planning for mobile manipulators with the continuous trajectory task

Xu,

Tao,

Pei

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

show abstract

“…The range of possibilities and expectations for robot applications in machining and pre-machining tasks is reflected in the large collection of reviews and papers in the specialized literature [1][2][3]. The major challenges facing machining with robots versus machining with machine tools remain today [4] the characterization of robot stiffness and robot configuration [5], path planning and dynamics, vibration during machining [6] and robot deformation and compensation [7].…”

Section: Introductionmentioning

confidence: 99%

Analysis of the Behaviour of Vertical Articulated Robots in Machining Operations

Ferreras-Higuero

Diez

Muñoz

et al. 2023

Proceedings of the XV Ibero-American Congress of Mechanical Engineering

View full text Add to dashboard Cite

The aim of this work is to improve the productivity of manufacturing cells by reallocating tasks between the machine tools and the robot. The true working capacity of the robot is established considering the process forces and taking into account the specified precision of the product to be manufactured by accurately modelling its behaviour. This modelling has been carried out using the multi-body method and considering a variable stiffness in the robot joints. The behaviour of the robot at different points in the work area is determined, determining where the best results are produced. This results in the possible reallocation of tasks, the positioning point and the orientation of the workpiece in the working area.The simulated or measured cutting force is fed into the model, modified according to variations in the machining parameters. These variations occur due to deviations of the robot during the machining path. A function is defined where the influence on the value of the force is recorded. This input information can be modified based on feedback from the estimated behaviour of the robot. The results of the modelling of the robot and its interaction with the cutting forces show the influence of the type of robot and the work area in which it is working, allowing the process to be characterised.

show abstract

“…Passive force control is achieved through energy absorption or the storage of the auxiliary flexibility mechanism, and the robot is still in position control mode [17,18]. Typical force control devices mainly include voice coil motor actuators [19,20], parallel mechanism actuators [21,22], pneumatic actuators [23][24][25], mechanically flexible structures [26][27][28][29], force control joints [30], etc. Chen et al [31] adopted a dual force sensor to decouple the dynamics between the macro robot, micro robot, and workpiece to achieve high-precision force control.…”

Section: Introductionmentioning

confidence: 99%

Dual PID Adaptive Variable Impedance Constant Force Control for Grinding Robot

Wu,

Guo,

Sun

2023

Applied Sciences

View full text Add to dashboard Cite

High-precision and low-overshoot force control are important to guarantee the material removal rate and surface quality of robot grinding. However, traditional force control methods are subjected to positional disturbance, stiffness disturbance, contact process nonlinearity, and force-position coupling, leading to difficulties in robot constant force control. Therefore, how to achieve smooth, stable, and high-precision constant force control is an urgent problem. To address this problem, a dual PID adaptive variable impedance control is established (DPAVIC). Firstly, PD control is used to compensate for the force error, and PID is used to update the damping parameters to compensate for the disturbance. Secondly, a nonlinear tracking differentiator is used to smooth the desired force and reduce the contact force overshoot. Then, the stability, convergence, and effectiveness of the force control algorithm are verified via theoretical analysis, simulations, and experiments. The force tracking error and overshoot of a conventional impedance controller (CIC), adaptive variable impedance control (AVIC), and DPAVIC are analyzed. Finally, the algorithm is used in grinding experiments on a thin-walled workpiece. The force tracking error is controlled within ±0.2 N, and the surface roughness of the workpiece is improved to Ra 0.218 μm.

show abstract

Compliance error compensation of a robot end-effector with joint stiffness uncertainties for milling: An analytical model

Cited by 28 publications

References 53 publications

HCDR-based motion planning for mobile manipulators with the continuous trajectory task

HCDR-based motion planning for mobile manipulators with the continuous trajectory task

Analysis of the Behaviour of Vertical Articulated Robots in Machining Operations

Dual PID Adaptive Variable Impedance Constant Force Control for Grinding Robot

Contact Info

Product

Resources

About