Art

J-GLOBAL ID：201002228561990704   Reference number：10A0653234

Shape-Grinding by Direct Position/Force Control

直接位置/力制御による形状研削

Author (3)： CHN Guanghua (Univ. Fukui, Fukui, JPN) ,  XU Weiwei (Nabtesco Corp., Hyogo, JPN) ,  MINAMI Mamoru (Univ. Fukui, Fukui, JPN)
Material： SICE Journal of Control, Measurement, and System Integration  (SICE JCMSI)
Volume： 2  Issue： 3  Page： 153-161  Publication year： May. 31, 2009 
JST Material Number： L7831A  ISSN： 1882-4889  Document type： Article
Article type： 原著論文  Country of issue： Japan (JPN)  Language： ENGLISH (EN)

Thesaurus term： *position control ,  *power control ,  constraint condition (restriction) ,  *manipulator ,  robot hand ,  *grinding ,  *industrial robot ,  curve fitting ,  spline function ,  adaptive control ,  Computer Simulation ,  modeling ,  dynamical system ,  *robot ,  computer application ,  utilization
Semi thesaurus term： grinding ,  spline curve ,  figure processing

JST classification (1)： Motion and control of robots  (IC04012J)

Reference (21)：

• M. H. Raibert and J. J. Craig: Hybrid position/force control of manipulators, Trans. ASME J. Dynamic Systems, Measurement and Control, Vol.102, pp. 126-133, June, 1981.
• J. K. Mills and A. A. Goldenberg: Force and position control of manipulators during constrained motion tasks, IEEE Trans. Robotics and Automation, Vol.5, No.1, pp. 30-46, Feb., 1989.
• S. Arimoto: Mechanics and Control of Robot (in Japanese), Asakura Publishing Co., Ltd., Tokyo, Japan, 1990.
• T. Yoshikawa: Dynamic hybrid position/force control of robot manipulators-Description of Hand Constraints and Calculation of Joint Driving Force, IEEE J. Robotics and Automation, Vol.RA-3, No.5, pp. 386-392, 1987.
• L. Whitcomb, S. Arimoto, T. Naniwa, and F. Osaki: Experiments in adaptive model-based force control, IEEE Control Systems Magazine, Vol.16, No.1, pp. 49-57, 1996.

Terms in the title (2)： 力制御 ,  研削