Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
권호 표지
DOI QR코드

DOI QR Code

Kinestatic Control using Six-axis Parallel-type Compliant Device

6축 병렬형 순응기구를 이용한 위치/힘 동시제어

  • Kim, Han Sung (School of Mechanical Engineering, Kyungnam University)
  • Received : 2014.08.07
  • Accepted : 2014.10.10
  • Published : 2014.10.15
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, the kinestatic control algorithm using a six-axis compliant device is presented. Unlike the traditional control methods using a force/torque sensor with very limited compliance, this method employs a compliant device to provide sufficient compliance between an industrial robot and a rigid environment. This kinestatic control method is used to simply control the position of an industrial robot with twists of compensation, which can be decomposed into twists of compliance and twists of freedom. A simple design method of a six-axis parallel-type compliant device with a diagonal stiffness matrix is presented. A compliant device prototype and kinestatic control hardware system and programming were developed. The effectiveness of the kinestatic control algorithm was verified through two kinds of kinestatic control experiments.

Keywords

References

  1. Raibert, M. J., Craig, J. J., 1981, Hybrid Position/force Control of Manipulators, ASME Journal of Dynamic Systems, Measurement, and Control 103 126-133. https://doi.org/10.1115/1.3139652
  2. Duffy, J., 1990, The fallacy of modern hybrid control theory that is based on orthogonal complements of twist and wrench spaces, Journal of Robotic Systems 7:2 139-144. https://doi.org/10.1002/rob.4620070202
  3. Drake, S. H., Simunovic, S. N., 1979, Compliant Assembly System Device, U.S. Patent 4,155,169.
  4. Griffis, M., Duffy, J., 1991, Kinestatic Control: A Novel Theory for Simultaneously Regulating Force and Displacement, Trans. ASME Journal of Mechanical Design 113:4 508-515. https://doi.org/10.1115/1.2912812
  5. Griffis, M., 1991, A novel theory for simultaneously regulating force and displacement, Doctorate Thesis, University of Florida
  6. Jung, H., 2006, Mechanisms with Variable Compliance, Doctorate Thesis, University of Florida
  7. Choi, S. W., Choi, Y. J., Kim, S. H., 1991, Using a Compliant Wrist for a Teleoperated Robot, Proc. of the 1999 IEEE/RSJ IROS 585-589.
  8. Seo, J. W., Choi, Y. J., 1993, Kinestatic Control using a Compliant Device by Fuzzy Logic, Proc. of KSME Conference 917-922.
  9. Vibhute, A., 2011, Implementing Kinestatic Control using Six DOF Compliant Parallel Mechanism, Master thesis, University of Florida.
  10. Duffy, J., 1996, Statics and Kinematics with Applications to Robotics Cambridge University press, Cambridge, UK, 91-94.
  11. Kim, H. S., 2014, Stiffness Analysis of Planar Parallel Manipulators with Serially Connected Legs, Journal of The Korean Society of Manufacturing Technology Engineers 23:2 164-1723. https://doi.org/10.7735/ksmte.2014.23.2.164
  12. Tsai, L. W., 1999, Robot Analysis: The Mechanics of Serial and Parallel Manipulators, John Wiley & Sons, Inc., 151-161, and 289-293.
  13. Griffis, M., Duffy, J., 1993, Global Stiffness Modeling of a Class of Simple Compliant Couplings, Mechanisms and Machine Theory 28 207-224. https://doi.org/10.1016/0094-114X(93)90088-D