Title: Position-based impedance control using inner servo system and its application to a desktop NC machine tool

Authors: Fusaomi Nagata, Takanori Mizobuchi, Takashi Tanabe, Go Matsumura, Keigo Watanabe, Maki K. Habib, Tetsuo Hase, Zenku Haga

Addresses: Faculty of Engineering, Department of Mechanical Engineering, Tokyo University of Science, Yamaguchi, 756-0884, Japan. ' Faculty of Engineering, Department of Mechanical Engineering, Tokyo University of Science, Yamaguchi, 756-0884, Japan. ' Faculty of Engineering, Department of Mechanical Engineering, Tokyo University of Science, Yamaguchi, 756-0884, Japan. ' Faculty of Engineering, Department of Mechanical Engineering, Tokyo University of Science, Yamaguchi, 756-0884, Japan. ' Department of Intelligent Mechanical Systems, Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushima-naka, Kita-ku, Okayama 700-8530, Japan. ' Mechanical Engineering Department, School of Sciences and Engineering, The American University in Cairo, 113, Kasr El Eini St., P.O. Box 2511, Cairo 11511, Egypt. ' R&D Center, Meiho Co. Ltd., Nogata, 822-0001, Japan. ' R&D Center, Meiho Co. Ltd., Nogata, 822-0001, Japan

Abstract: A position-based impedance control using an inner servo system is introduced for industrial manipulators. Stiffness control, compliance control and impedance control can be easily realised. The impedance control does not have a force control mode but is the combination of position, velocity and force. The proposed impedance model force control is derived from the concept of the position-based impedance control. The force control method is applied to an NC machine tool to have a compliance. The machine tool consists of three single-axis robots with a high position resolution of 1 µm. The basic performance is demonstrated through a profiling control experiment.

Keywords: position-based impedance control; force control; industrial robots; robot control; desktop machine tools; NC machining; CADCAM; critical damping condition; inner servo system; industrial manipulators; profiling control.

DOI: 10.1504/IJMMS.2010.033182

International Journal of Mechatronics and Manufacturing Systems, 2010 Vol.3 No.3/4, pp.168 - 186

Available online: 10 May 2010 *

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