The Paton Welding Journal, 2009, №04



2009 №04 (05)

2009 №04 (07)

---

TPWJ, 2009, #4, 32-34 pages  
CONTROL OF MANIPULATION ROBOT FORCE ACTION


Journal                    The Paton Welding Journal
Publisher                 International Association «Welding»
ISSN                       0957-798X (print)
Issue                       № 4, 2009 (April)
Pages                      32-34
 
 
Authors
G.A. TSYBULKIN
E.O. Paton Electric Welding Institute, NASU, Kiev, Ukraine
 
 
Abstract
The non-traditional approach towards the solution of problem of control of the manipulation robot force action on contact surface under the conditions of its free location in the working space of robot has been proposed. The algorithm providing the stabilization of a force action at a desirable level has been outlined.
 
 
Keywords: manipulation robots, workpiece being treated, contact surface, force action stabilization, correcting algorithms
 
 
Received:                09.02.09
Published:               28.04.09
 
 
References
1. Tsybulkin, G.A. (1995) Two-level coordinating control of manipulation robot with kinematic redundancy. Problemy Upravleniya i Informatiki, 3, 143-150.
2. Coife, F. (1985) Interaction of robot with environment. Moscow: Mir.
3. Whitney, D.E (1985) Historical perspective and state of the art in robot force control. In: Proc. of Int. Conf. on Robotics and Automation, 262-268.
4. Clamroch, H., Wang, D. (1990) Linear feedback control of position and contact force for a nonlinear constrained mechanism. J. Dyn. Syst. Meas. and Control, 112(4), 640-645.
5. Zheng, Y.F., Fan, Y. (1991) Robot force sensor interacting with environments. IEEE Transact. Rob. and Autom., 7(1), 156-164.
6. Tsybulkin, G.A. (2000) Situation algorithms of automatic correction of the robot motion path in arc welding. The Paton Welding J., 11, 11-14.
7. Dubrovin, B.A., Novikov, S.P., Fomenko, A.T. (1986) Current geometry: Methods and propositions. Moscow: Nauka.

---