Introducing fundamental concepts of control: A case study in robot force control

Burn, Kevin, Robinson, Evan and Dixon, Derek (2014) Introducing fundamental concepts of control: A case study in robot force control. International Journal of Mechanical Engineering Education, 42 (4). pp. 320-339. ISSN 2050-4586

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Abstract

This paper describes an approach to teaching concepts of automatic control, aimed principally at mechanical engineering students on courses that do not include a dedicated control module. The application area employed is robot force control, which has been the focus of much research during the past three or more decades. In this work, a robot is modelled in MATLAB and Simulink as a simple one degree-of-freedom ‘arm’, which is based upon a velocity controlled DC motor. The paper describes the development of this model and how it can be approximated as a standard second order system from step response data. Three example solutions for designing a suitable force controller are then discussed, for a situation where the stiffness of contact at the robot/task interface is known and constant. The approach can be used in conjunction with a more traditional course in automatic control, or act as standalone tutorial for those with a more specific interest in force control.

Item Type: Article
Subjects: Engineering > Mechanical Engineering
Divisions: Faculty of Applied Sciences > Department of Computing Engineering and Technology
Digital Innovation Beacon
Depositing User: Kevin Burn
Date Deposited: 22 Jul 2015 13:14
Last Modified: 09 May 2016 09:54
URI: http://sure.sunderland.ac.uk/id/eprint/5575

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