hrcak mascot   Srce   HID

Original scientific paper
https://doi.org/10.21278/TOF.42302

Tuning of Parameters for Robotic Contouring Based on the Evaluation of Force Deviation

Marko Švaco ; Department of Robotics and Production System Automation, Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Zagreb, Croatia
Nikola Vitez ; Department of Robotics and Production System Automation, Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Zagreb, Croatia
Bojan Šekoranja ; Department of Robotics and Production System Automation, Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Zagreb, Croatia
Filip Šuligoj ; Department of Robotics and Production System Automation, Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Zagreb, Croatia

Fulltext: english, pdf (2 MB) pages 33-45 downloads: 564* cite
APA 6th Edition
Švaco, M., Vitez, N., Šekoranja, B. & Šuligoj, F. (2018). Tuning of Parameters for Robotic Contouring Based on the Evaluation of Force Deviation. Transactions of FAMENA, 42 (3), 33-45. https://doi.org/10.21278/TOF.42302
MLA 8th Edition
Švaco, Marko, et al. "Tuning of Parameters for Robotic Contouring Based on the Evaluation of Force Deviation." Transactions of FAMENA, vol. 42, no. 3, 2018, pp. 33-45. https://doi.org/10.21278/TOF.42302. Accessed 6 Dec. 2021.
Chicago 17th Edition
Švaco, Marko, Nikola Vitez, Bojan Šekoranja and Filip Šuligoj. "Tuning of Parameters for Robotic Contouring Based on the Evaluation of Force Deviation." Transactions of FAMENA 42, no. 3 (2018): 33-45. https://doi.org/10.21278/TOF.42302
Harvard
Švaco, M., et al. (2018). 'Tuning of Parameters for Robotic Contouring Based on the Evaluation of Force Deviation', Transactions of FAMENA, 42(3), pp. 33-45. https://doi.org/10.21278/TOF.42302
Vancouver
Švaco M, Vitez N, Šekoranja B, Šuligoj F. Tuning of Parameters for Robotic Contouring Based on the Evaluation of Force Deviation. Transactions of FAMENA [Internet]. 2018 [cited 2021 December 06];42(3):33-45. https://doi.org/10.21278/TOF.42302
IEEE
M. Švaco, N. Vitez, B. Šekoranja and F. Šuligoj, "Tuning of Parameters for Robotic Contouring Based on the Evaluation of Force Deviation", Transactions of FAMENA, vol.42, no. 3, pp. 33-45, 2018. [Online]. https://doi.org/10.21278/TOF.42302

Abstracts
The application of industrial robots with advanced sensor systems in unstructured environments is continuously becoming wider. A widely used type of advanced sensor systems is the force-torque sensor. Force-torque sensors are typically used for applications such as robot grinding, sanding, polishing, and deburring, where a constant force is exerted upon a workpiece. In this research, control parameters for exerting a constant force along a predefined path are evaluated in laboratory conditions. The experimental setup with the contouring force feedback is composed of a Fanuc LRMate six-degree-of-freedom industrial robot with an integrated force-torque sensor. Control parameters of the Contouring function within the Fanuc robot controller are tuned in four contouring experiments. The experiments conducted in this research are: i) flat beam, ii) flat beam with a rigid support, iii) wave shaped compliant plate, and iv) compliant flat plate. During the experiments, contouring parameters were altered in order to collect the feedback on the values of the force to be used for the evaluation of the force deviation. A fitness function for the evaluation of the force deviation and the tuning of the control parameters is presented. The fitness function enables a selection of initial control parameters which minimize the force deviation during the robot contouring process.

Keywords
robotics; force-torque sensor; force sensing; contouring

Hrčak ID: 206942

URI
https://hrcak.srce.hr/206942

Visits: 875 *