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

Full text not available from this repository.

Search Google Scholar

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 Technology
Faculty of Technology > School of Engineering
Depositing User: Kevin Burn
Date Deposited: 22 Jul 2015 13:14
Last Modified: 18 Dec 2019 15:38
URI: http://sure.sunderland.ac.uk/id/eprint/5575
ORCID for Kevin Burn: ORCID iD orcid.org/0000-0002-3571-8448
ORCID for Derek Dixon: ORCID iD orcid.org/0000-0002-9288-5621

Actions (login required)

View Item View Item