Iterative-Learning Hybrid Force/Velocity Control for Contour Tracking

2010 ◽  
Vol 26 (2) ◽  
pp. 388-393 ◽  
Author(s):  
A. Visioli ◽  
G. Ziliani ◽  
G. Legnani
Keyword(s):  
Iterative Learning ◽  
Contour Tracking ◽  
Velocity Control ◽  
Force Velocity

Force/Velocity Control of a Pneumatic Gantry Robot for Contour Tracking With Neural Network Compensation

2008 ◽  
Author(s):  
Mohammed Abu-Mallouh ◽  
Brian Surgenor
Keyword(s):  
Neural Network ◽  
Coulomb Friction ◽  
Tangential Velocity ◽  
Limiting Factor ◽  
Contour Tracking ◽  
Velocity Control ◽  
Hybrid Controller ◽  
Controller Performance ◽  
Force Velocity ◽  
Gantry Robot

In this paper, the application of a pneumatic gantry robot to contour tracking is examined. A hybrid controller is structured to control the contact force and the tangential velocity, simultaneously. A previous study provided controller tuning and model validation results for a fixed gain PI-based force/velocity controller. Performance was limited by system lag and Coulomb friction. New results demonstrate that even with perfect friction compensation, the limiting factor is the system lag. A neural network (NN) compensator was subsequently developed to counter both effects. Results for straight and curved edged workpieces are presented to demonstrate the effectiveness of the NN compensator and the capabilities of a pneumatic gantry robot.

Hybrid Force/Velocity Control of a Pneumatic Gantry Robot for Contour Tracking: Tuning and Model Validation

2007 ◽  
Author(s):  
Mohammed Abu-Mallouh ◽  
Brian Surgenor
Keyword(s):  
Model Validation ◽  
Coulomb Friction ◽  
Tangential Velocity ◽  
Contour Tracking ◽  
Velocity Control ◽  
Negative Effects ◽  
Sufficient Detail ◽  
Force Velocity ◽  
Future Work ◽  
Gantry Robot

The paper examines hybrid force/velocity control of a pneumatic gantry robot for contour tracking. Both experimental and simulation results are presented. The control system is structured to control the contact force and the tangential velocity simultaneously. Controller tuning and model validation results are given for a fixed gain PI-based hybrid force/velocity controller. A simple yet effective model is presented in sufficient detail such that other researchers can perform their own simulations to investigate the utility of their own controller designs. The model is used to demonstrate the negative effects of Coulomb friction. Future work will focus on friction compensation techniques to improve performance.

scholarly journals Gain Scheduling for Hybrid Force/Velocity Control in Contour Tracking Task

10.5772/5717 ◽  
2006 ◽  
Vol 3 (4) ◽  
pp. 49 ◽  
Author(s):  
Giacomo Ziliani ◽  
Antonio Visioli ◽  
Giovanni Legnani
Keyword(s):  
Gain Scheduling ◽  
Tracking Task ◽  
Contour Tracking ◽  
Velocity Control ◽  
Force Velocity
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