Parallel Control; Simultaneous Position- and Force-Control; Constrained Manufacturing; Bio-inspired
Abstract :
[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.
Disciplines :
Mechanical engineering
Author, co-author :
KLECKER, Sophie ; 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
PLAPPER, Peter ; University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit
External co-authors :
no
Language :
English
Title :
CILAP-Architecture for Simultaneous Position- and Force-Control in Constrained Manufacturing Tasks
Publication date :
July 2018
Event name :
15th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2018)
Event place :
Porto, Portugal
Event date :
from 29-07-2018 to 31-07-2018
Audience :
International
Main work title :
ICINCO 2018 Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics Volume 2
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