Hybrid Force/Velocity Control of a Pneumatic Gantry Robot for Contour Tracking: Tuning and Model Validation

摘要

The paper examines hybrid force/velocity control of a pneumatic gantry robot for contour tracking. Both experimental and simulation results are presented. The control system is structured to control the contact force and the tangential velocity simultaneously. Controller tuning and model validation results are given for a fixed gain PI-based hybrid force/velocity controller. A simple yet effective model is presented in sufficient detail such that other researchers can perform their own simulations to investigate the utility of their own controller designs. The model is used to demonstrate the negative effects of Coulomb friction. Future work will focus on friction compensation techniques to improve performance.