Title :
Control system design of robotic manipulator for testing of shifting system
Author :
Goubej, M. ; Mertl, Jiri ; Balda, Pavel
Author_Institution :
Univ. of West Bohemia, Pilsen, Czech Republic
Abstract :
The paper deals with robotic manipulator for automated testing of shifting system which was developed for automotive industry. Procedure of modelling and control design for hybrid force/position motion control as well as construction of the test stand and experimental results are presented. The proposed control structure with minimum set of feature-based parameters allows rapid online tuning in case of variable testing conditions even by an unskilled operator.
Keywords :
automobile industry; control system synthesis; force control; manipulators; motion control; position control; testing; automated testing; automotive industry; control system design; feature-based parameters; hybrid force position motion control; rapid online tuning; robotic manipulator; shifting system; variable testing conditions; Force; Reliability; Robots; HIL; automotive; force control; motion control; robotics; shifting system;
Conference_Titel :
Process Control (PC), 2013 International Conference on
Conference_Location :
Strbske Pleso
Print_ISBN :
978-1-4799-0926-1
DOI :
10.1109/PC.2013.6581416
