Title :
Force-position-velocity control of an industrial machine in computer integrated manufacturing
Author :
Choudhary, Satinath
Author_Institution :
Dept. of Comput. Sci. & Quantitative Anal., William Patterson Coll. of New Jersey, Wayne, NJ, USA
Abstract :
A simple heuristic approach for force-position-velocity control of an industrial robot in a CIM environment is presented. This strategy can be used in industrial operations such as milling, grinding, deburring, sanding, buffing, and polishing. As an example, a deburring operation under compliant control of a grinding machine is considered. The approach has been arrived at after a careful analysis of how a human operator would perform the task under manual control. A heuristic pseudocode is suggested to simulate the compliant force-position-velocity control applied by the human operator
Keywords :
force control; heuristic programming; industrial robots; machining; manufacturing computer control; position control; surface treatment; velocity control; CIM; buffing; compliant force-position-velocity control; deburring; grinding; heuristic approach; heuristic pseudocode; industrial machine; industrial robot; milling; polishing; sanding; Computer industry; Computer integrated manufacturing; Deburring; Force control; Grinding machines; Industrial control; Manufacturing industries; Milling; Motion control; Service robots;
Conference_Titel :
Industrial Electronics Society, 1990. IECON '90., 16th Annual Conference of IEEE
Conference_Location :
Pacific Grove, CA
Print_ISBN :
0-87942-600-4
DOI :
10.1109/IECON.1990.149180
