Hybrid Position/Force Control in Robotised Machining

Piotr Gierlak

doi:10.4028/www.scientific.net/SSP.210.192

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HomeSolid State PhenomenaSolid State Phenomena Vol. 210Hybrid Position/Force Control in Robotised...

Hybrid Position/Force Control in Robotised Machining

Abstract:

The article presents an application of the neural hybrid position/force control of the robotic manipulator. Realisation of many machining processes requires an application of the hybrid position/force control in order to perform the desired robot trajectory, which results from the machined surface geometry, and the desired tool downforce. The application of the robotic manipulator for realisation of the machining process enables to elimination of human handwork and ensures greater accuracy and repeatability of products. In the article is presented mainly the application of the hybrid position/force control system, in which a multilayer neural network is applied in order to manipulator nonlinearities compensation.

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Periodical:

Solid State Phenomena (Volume 210)

Pages:

192-199

DOI:

https://doi.org/10.4028/www.scientific.net/SSP.210.192

Citation:

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Online since:

October 2013

Authors:

Piotr Gierlak

Keywords:

Force Control, Manipulator Control, Neural Network (NN), Robotised Machining

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