FORCE VELOCITY CONTROL WITH NEURAL NETWORK COMPENSATION FOR CONTOUR TRACKING WITH PNEUMATIC ACTUATION

Abstract

Control of the contact force between a robot manipulator and a workpiece is critical for successful execution of tasks where the robot's end effector must perform a contact operation along the contour of a workpiece.Representative tasks include polishing, grinding and deburring.Considerable research has been conducted on force control with electric robots.By contrast, little research has been conducted on force control with pneumatic robots.The later has the potential * Simulation results only presented.** No simulation or experimental results presented, just theoretical