448 research outputs found
Hybrid force and position control in robotic surface processing
PhD ThesisThis programme of research was supported by NEI Parsons Ltd. who sought
a robotic means of polishing mechanical components.
A study of the problems associated with robot controlled surface
processing is presented. From this evolved an approach consistent with
the formalisation of the demands of workpiece manipulation which
included the adoption of the Hybrid robot control scheme capable of
simultaneous force and position control.
A unique 3 axis planar experimental manipulator was designed which
utilized combined parallel and serial drives. A force sensing wrist was
used to measure contact force. A variant of the Hybrid control 'scheme
was successfully implemented on a twin computer control system. A
number of manipulator control programs are presented.
The force control aspect is shown both experimentally and analytically
to present control problems and the research has concentrated on this
aspect.
A general analysis of the dynamics of force control is given which shows
force response to be dependent on a number' of important parameters
including force sensor, environment and manipulator dynamics. The need
for a robust or adaptable force controller is discussed.
A series of force controlled manipulator experiments is described and
the results discussed in the context of general analyses and specific
single degree of freedom simulations. Improvements to manipulator force
control are suggested and some were implemented. These are discussed
together with their immediate application to the improvement of robot
controlled surface processing.
This work also lays important foundations for long term related
research. In particular the new techniques for actively controlled
assembly and force control under 'fast' operation.Science and Engineering Research Council
NEI Parsons Ltd
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Mechatronics is a multidisciplinary branch of engineering combining mechanical, electrical and electronics, control and automation, and computer engineering fields. The main research task of mechatronics is design, control, and optimization of advanced devices, products, and hybrid systems utilizing the concepts found in all these fields. The purpose of this special issue is to help better understand how mechatronics will impact on the practice and research of developing advanced techniques to model, control, and optimize complex systems. The special issue presents recent advances in mechatronics and related technologies. The selected topics give an overview of the state of the art and present new research results and prospects for the future development of the interdisciplinary field of mechatronic systems
Selected Papers from IEEE ICASI 2019
The 5th IEEE International Conference on Applied System Innovation 2019 (IEEE ICASI 2019, https://2019.icasi-conf.net/), which was held in Fukuoka, Japan, on 11–15 April, 2019, provided a unified communication platform for a wide range of topics. This Special Issue entitled “Selected Papers from IEEE ICASI 2019” collected nine excellent papers presented on the applied sciences topic during the conference. Mechanical engineering and design innovations are academic and practical engineering fields that involve systematic technological materialization through scientific principles and engineering designs. Technological innovation by mechanical engineering includes information technology (IT)-based intelligent mechanical systems, mechanics and design innovations, and applied materials in nanoscience and nanotechnology. These new technologies that implant intelligence in machine systems represent an interdisciplinary area that combines conventional mechanical technology and new IT. The main goal of this Special Issue is to provide new scientific knowledge relevant to IT-based intelligent mechanical systems, mechanics and design innovations, and applied materials in nanoscience and nanotechnology
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