Hybrid Position/Force Control with Compliant Wrist for Grinding

Abstract : Within the framework of the H2020 European Project 'Bots2ReC' (roBots to ReConstruction) ("Robots to Re-Construction", 2017), an automated system for the removal of asbestos from a real world rehabilitation site will be developed. The system will consist of multiple robotic units, each one is composed of a mobile platform and a robotic arm with a rotative abrasive tool. In this paper, only the arm control is considered, and the smooth position-force controller presented in (Mohy El Dine, 2017) is validated on a Kuka LWR lightweight robotic arm. The arm is equipped with force/torque sensor, camera and spindle with a grinding tool. The mentioned controller reconsiders the position, force and impedance control strategies together from a practical point of view to achieve the real grinding task. The experimental validation shows the efficiency, advantages and drawbacks of the proposed controller and it draws conclusions about the main factors that affect the wall grinding operation and its quality.
Document type :
Conference papers
Complete list of metadatas

https://hal-clermont-univ.archives-ouvertes.fr/hal-01819089
Contributor : Juan Antonio Corrales Ramon <>
Submitted on : Wednesday, June 20, 2018 - 6:17:46 AM
Last modification on : Monday, May 6, 2019 - 10:20:07 AM
Long-term archiving on : Monday, September 24, 2018 - 7:10:00 PM

File

Kamal_mohy_el_dine_2018_MUGV_a...
Files produced by the author(s)

Identifiers

  • HAL Id : hal-01819089, version 1

Citation

Kamal Mohy El Dine, Laurent Lequievre, Juan Antonio Corrales Ramon, Youcef Mezouar, Jean-Christophe Fauroux. Hybrid Position/Force Control with Compliant Wrist for Grinding. MUGV 2018 (Machines et Usinage à Grande Vitesse) & Manufacturing’21, Jun 2018, Bordeaux, France. ⟨hal-01819089⟩

Share

Metrics

Record views

207

Files downloads

68