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Sliding mode impedance control and its application to grinding tasks

Ziren Lu, S. Kawamura, A.A. Goldenberg

Year
2002
Citations
16

Abstract

A sliding mode based impedance controller is proposed. A continuous PI function is used near the sliding surface to avoid chattering as well as to reduce the steady-state error. Stability analysis is performed via Lyapunov theory. The proposed controller is realized on a DD-arm robot to test its performance. Its performance in the grinding process with different parameters of targeted impedance is also investigated. Through frequency spectrum analysis of the grinding force, criteria to choose the proper parameters of the targeted impedance for grinding tasks are suggested.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>

Keywords

Electrical impedanceImpedance controlGrindingComputer scienceSliding mode controlMode (computer interface)Control (management)Control theory (sociology)Materials scienceEngineering

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