Historical perspective and state of the art in robot force control
International Journal of Robotics Research
Nonlinear control systems: an introduction (2nd ed.)
Nonlinear control systems: an introduction (2nd ed.)
Automatica (Journal of IFAC)
Robust motion and force control of constrained manipulators by learning
Automatica (Journal of IFAC)
Robot Dynamics and Control
Nonlinear feedback and computer control of robot arms
Nonlinear feedback and computer control of robot arms
IEEE Transactions on Neural Networks
Measurement assisted automated robotic edge deburring of complex components
ISPRA'10 Proceedings of the 9th WSEAS international conference on Signal processing, robotics and automation
Measurement assisted robotic edge deburring of aero engine components
WSEAS Transactions on Systems and Control
Micro tracking and positioning using off-the-shelf servopneumatics
Robotics and Computer-Integrated Manufacturing
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An efficient robotic deburring method was developed based on a new active pneumatic tool. The developed method considers the interaction among the tool, the manipulator and the workpiece and couples the tool dynamics and a control design that explicitly considers deburring process information. The new active pneumatic tool was developed based on a single pneumatic actuator with a passive chamber to provide compliance and reduce the chatter caused by air compressibility. A coordination control method was developed for efficient control of the system, which adopts two-level hierarchical control structure based on a coordination scheme. Robust feedback linearization was utilized to minimize the undesirable effect of external disturbances such as static and Coulomb friction and nonlinear compliance of the pneumatic cylinder stemming from the compressibility of air. The developed coordination control method demonstrated its efficacy in terms of deburring accuracy and speed.