Tracking; Control of constrained systems; Control of switched systems; Sliding mode control; Adaptive control; Robots manipulators; Intelligent robotics
Abstract :
[en] This paper addresses freeform surface following control as one of the main challenges in automating surface finishing processes. Successive changes in constraints between the tool attached to the robotic manipulator and its surroundings are due to complex workpiece-geometries and result in a switched nonlinear system. The control problem of the latter is addressed by industrial state-of-the-art conventional PID control as well as by biomimetic variable structure control which are both applied to a benchmark path tracking problem as characteristically encountered in surface finishing.
Disciplines :
Mechanical engineering
Author, co-author :
KLECKER, Sophie ; University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit
PLAPPER, Peter ; University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit
HICHRI, Bassem ; University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit
External co-authors :
no
Language :
English
Title :
PID and Biomimetic Variable Structure Path Tracking Control in Automated Surface Finishing Processes
Publication date :
2017
Event name :
Robotix-Academy Conference for Industrial Robotics (RACIR) 2017
Event place :
Luxembourg, Luxembourg
Event date :
from 06-06-2017 to 07-06-2017
Audience :
International
Main work title :
Robotix-Academy Conference for Industrial Robotics (RACIR) 2017
