Authors:
Sophie Klecker
;
Bassem Hichri
and
Peter Plapper
Affiliation:
Faculty of Science, Technology and Communication, University of Luxembourg, 6, rue Richard Coudenhove-Kalergi, L-1359 Luxembourg and Luxembourg
Keyword(s):
Parallel Control, Simultaneous Position- and Force-Control, Constrained Manufacturing, Bio-inspired.
Related
Ontology
Subjects/Areas/Topics:
Industrial Automation and Robotics
;
Industrial Engineering
;
Informatics in Control, Automation and Robotics
;
Modeling, Simulation and Architectures
;
Robot Design, Development and Control
;
Robotics and Automation
Abstract:
This paper presents a parallel control concept for automated constrained manufacturing tasks, i.e. for simultaneous position- and force-control of industrial robotic manipulators. The manipulator’s interaction with its environment results in a constrained non-linear switched system. In combination with internal and external uncertainties and in the presence of friction, the stable system performance is impaired. The aim is to mimic a human worker’s behaviour encoded as lists of successive desired positions and forces obtained from the records of a human performing the considered task operating the lightweight robot arm in gravity compensation mode. The suggested parallel control concept combines a model-free position- and a model-free torque-controller. These separate controllers combine conventional PID- and PI-control with adaptive neuro-inspired algorithms. The latter use concepts of a reward-like incentive, a learning system and an actuator-inhibitor-interplay. The elements Conve
ntional controller, Incentive, Learning system and Actuator-Preventer interaction form the CILAP-concept. The main contribution of this work is a biologically inspired parallel control architecture for simultaneous position- and force-control of continuous in contrast to discrete manufacturing tasks without having recourse to visual inputs. The proposed control-method is validated on a surface finishing process-simulation. It is shown that it outperforms a conventional combination of PID- and PI-controllers.
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