Tuning of Parameters for Robotic Contouring Based on the Evaluation of Force Deviation
| العنوان: | Tuning of Parameters for Robotic Contouring Based on the Evaluation of Force Deviation |
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| المؤلفون: | Marko Švaco, Bojan Šekoranja, Nikola Vitez, Filip Šuligoj |
| المصدر: | Transactions of FAMENA Volume 42 Issue 3 |
| بيانات النشر: | Faculty of Mechanical Engineering and Naval Architecture, Univ. of Zagreb, 2018. |
| سنة النشر: | 2018 |
| مصطلحات موضوعية: | robotics, force-torque sensor, force sensing, contouring, 0209 industrial biotechnology, Contouring, Computer science, business.industry, Robotics, 02 engineering and technology, 020303 mechanical engineering & transports, 020901 industrial engineering & automation, 0203 mechanical engineering, Mechanics of Materials, Computer vision, Artificial intelligence, business |
| الوصف: | The application of industrial robots with advanced sensor systems in unstructured environments is continuously becoming wider. A widely used type of advanced sensor systems is the force-torque sensor. Force-torque sensors are typically used for applications such as robot grinding, sanding, polishing, and deburring, where a constant force is exerted upon a workpiece. In this research, control parameters for exerting a constant force along a predefined path are evaluated in laboratory conditions. The experimental setup with the contouring force feedback is composed of a Fanuc LRMate six- degree-of-freedom industrial robot with an integrated force-torque sensor. Control parameters of the Contouring function within the Fanuc robot controller are tuned in four contouring experiments. The experiments conducted in this research are: i) flat beam, ii) flat beam with a rigid support, iii) wave shaped compliant plate, and iv) compliant flat plate. During the experiments, contouring parameters were altered in order to collect the feedback on the values of the force to be used for the evaluation of the force deviation. A fitness function for the evaluation of the force deviation and the tuning of the control parameters is presented. The fitness function enables a selection of initial control parameters which minimize the force deviation during the robot contouring process. |
| وصف الملف: | application/pdf |
| تدمد: | 1849-1391 1333-1124 |
| DOI: | 10.21278/tof.42302 |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_dedup___::077d5c31ff31f7928d9c7c8d627bdfee https://doi.org/10.21278/tof.42302 |
| Rights: | OPEN |
| رقم الانضمام: | edsair.doi.dedup.....077d5c31ff31f7928d9c7c8d627bdfee |
| قاعدة البيانات: | OpenAIRE |
| تدمد: | 18491391 13331124 |
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| DOI: | 10.21278/tof.42302 |