工业精加工机器人控制策略综述

2015 10th International Symposium on Mechatronics and its Applications (ISMA) Pub Date : 2015-12-01 DOI:10.1109/ISMA.2015.7373468

Han Bo, Muhammad Azhar, Dhanya Menoth Mohan, D. Campolo

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引用次数: 6

摘要

良好的表面加工质量要求刀具定位和接触力的精确控制。各种位置和力控制策略已应用于工业自动化精加工过程中。本文综述了适用于机器人精加工作业的控制策略，重点介绍了其优点和局限性。最后，简要介绍了自适应力/阻抗控制体系结构及其在新一代柔性机器人上的应用前景。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Review of robotic control strategies for industrial finishing operations

Good quality of surface finishing requires accurate control of tool positioning, as well as of contact forces. Various position and force control strategies have been applied to robotized finishing processes in industries. This paper reviews the control strategies applicable to robotic finishing operations, highlighting the benefits and limitations. Finally, adaptive force/impedance control architecture and its potential implementation on new generation compliant robots are briefed.

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2015 10th International Symposium on Mechatronics and its Applications (ISMA)

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