HYBRID FORCEIPOSITION CONTROL IN THE ROBOT TOOL SPACE

دانشگاه آزاد اسلامی اصفهان(خوراسگان)

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" HYBRID FORCEIPOSITION CONTROL IN THE ROBOT TOOL SPACE "

Document Type	:	Latin Dissertation
Language of Document	:	English
Record Number	:	151267
Doc. No	:	ET23059
Main Entry	:	Amit Yogesh Goradia
Title Proper	:	HYBRID FORCEIPOSITION CONTROL IN THE ROBOT TOOL SPACE
Note	:	This document is digital این مدرک بصورت الکترونیکی می باشد
Abstract	:	The capabiIity of performing constrained motion tasks is key to many roboticapplications that involve material handling, milling, deburring, polishing and surfacetracking. Many strategies for performing constrained motion control have beenproposed. The major drawback of these strategies is that they do not provide for themanipulator to interact with poorly structured or unknown environments. This is becauseusing these strategies the interaction forces between the end-effector and the workpiececannot be controlled in arbitrary directions.This thesis presents the design of a new controller implemented in the robot toolspace that can control the interaction forces in arbitrary directions. Using the proposedcontroller, the manipulator can interact with workpieces whose shapes are not pre-specified. Thus tasks like milling, debumng and polishing, that involve constrainedmotion control of the manipulator can be performed on a wide variety of workpieces-....,....-...,..tested for theQ1 PC1 bus cardBoth these projects mere sofixare des elopment efforts tonards contributing to dlfferentaspects of Roboucs and lZ1echatronics projects m the Controls and Roboucs Group..
Subject	:	Electericl tess
	:	برق
electronic file name	:	TL46291.pdf
Title and statement of responsibility and	:	HYBRID FORCEIPOSITION CONTROL IN THE ROBOT TOOL SPACE [Thesis]