计算机集成制造中工业机械力-位置-速度控制

[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society Pub Date : 1990-11-27 DOI:10.1109/IECON.1990.149180

S. Choudhary

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引用次数: 2

摘要

提出了一种简单的启发式方法，用于工业机器人在CIM环境下的力-位置-速度控制。该策略可用于工业操作，如铣削，磨削，去毛刺，磨砂，抛光和抛光。作为一个例子，考虑了在磨床的柔性控制下的去毛刺操作。该方法是在仔细分析了人工操作员在手动控制下如何执行任务后得出的。提出了一种启发式伪代码来模拟人类操作者施加的柔性力-位置-速度控制

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Force-position-velocity control of an industrial machine in computer integrated manufacturing

A simple heuristic approach for force-position-velocity control of an industrial robot in a CIM environment is presented. This strategy can be used in industrial operations such as milling, grinding, deburring, sanding, buffing, and polishing. As an example, a deburring operation under compliant control of a grinding machine is considered. The approach has been arrived at after a careful analysis of how a human operator would perform the task under manual control. A heuristic pseudocode is suggested to simulate the compliant force-position-velocity control applied by the human operator.<>

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来源期刊

[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society

CiteScore

1.40

自引率

0.00%

发文量