Reference : CILAP-Architecture for Simultaneous Position- and Force-Control in Constrained Manufa...
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Mechanical engineering
Computational Sciences
http://hdl.handle.net/10993/36366
CILAP-Architecture for Simultaneous Position- and Force-Control in Constrained Manufacturing Tasks
English
Klecker, Sophie mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
Hichri, Bassem mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
Plapper, Peter mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
Jul-2018
ICINCO 2018 Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics Volume 2
244-251
Yes
International
978-989-758-321-6
15th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2018)
from 29-07-2018 to 31-07-2018
Porto
Portugal
[en] Parallel Control ; Simultaneous Position- and Force-Control ; Constrained Manufacturing ; Bio-inspired
[en] This paper presents a parallel control concept for automated constrained manufacturing tasks, i.e. for simultaneous position- and force-control of industrial robotic manipulators. The manipulator’s interaction with its environment results in a constrained non-linear switched system. In combination with internal and external uncertainties and in the presence of friction, the stable system performance is impaired. The aim is to mimic a human worker’s behaviour encoded as lists of successive desired positions and forces obtained from the records of a human performing the considered task operating the lightweight robot arm in gravity compensation mode. The suggested parallel control concept combines a model-free position- and a model-free torque-controller. These separate controllers combine conventional PID- and PI-control with adaptive neuro-inspired algorithms. The latter use concepts of a reward-like incentive, a learning system and an actuator-inhibitor-interplay. The elements Conventional controller, Incentive, Learning system and Actuator-Preventer interaction form the CILAP-concept. The main contribution of this work is a biologically inspired parallel control architecture for simultaneous position- and force-control of continuous in contrast to discrete manufacturing tasks without having recourse to visual inputs. The proposed control-method is validated on a surface finishing process-simulation. It is shown that it outperforms a conventional combination of PID- and PI-controllers.
http://hdl.handle.net/10993/36366

File(s) associated to this reference

Fulltext file(s):

FileCommentaryVersionSizeAccess
Limited access
ICINCO_2018_18_CR_10.pdfPublisher postprint781.27 kBRequest a copy

Bookmark and Share SFX Query

All documents in ORBilu are protected by a user license.