STUDY ON SPEEDUP OF A PROFILING TASK WITH REGULAR CONTACT FORCE USING AN INDUSTRIAL ROBOT EQUIPPED WITH POSITION CONTROL OF ITS TIP-APPLICATION OF BOTH OF PREVIEW CONTROL AND LEARNING CONTROL

摘要

For the purpose of speeding up the force sensor feedback control of an industrial robot, a new control method is proposed which applies both of preview control and learning control. Assuming the utilization of a robot equipped with real time position control mode of its tip, the increase of the feed speed is considered in a profiling task with constant pushing force against an unknown curved surface. In order to eliminate the force disturbance which is caused by the undulation of the surface at a fast feed speed, preview control is applied. The desired position and orientation of the tip at the next sampling time is predicted and feedforwarded. In order to eliminate the residual error, the learning control is further applied. The basic effectiveness of the proposed control method to the speeding up the force control is experimentally confirmed by employing an articulated robot.