Experimental External Force Estimation Using a Non-Linear Observer for 6 axes Flexible-Joint Industrial Manipulators
TypeCommunications avec actes
This paper proposes a non-linear observer to estimate not only the state (position and velocity) of links but also the external forces exerted by the robot during Friction Stir Welding (FSW) processes. The difficulty of performing this process with a robot lies in its lack of rigidity. In order to ensure a better tracking performance, the data such as real positions, velocities of links and external forces are required. However, those variations are not always measured in most industrial robots. Therefore, in this study, an observer is proposed to reconstruct those necessary parameters by using only measurements of motor side. The proposed observer is carried out on a 6 DOF flexible-joint industrial manipulator used in a FSW process.
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KLIMCHIK, Alexandr; PASHKEVICH, Anatol; GARNIER, Sébastien; CARO, Stéphane; LEONARD, François; ABBA, Gabriel; QIN, Jinna (ABBA Gabriel, 2014)The objective of this report is to detail the models used in simulation and the results obtained in simulation for both machining and FSW process. This report contains in a first part the details of modeling flexibilities ...
QIN, Jinna; LEONARD, François; ABBA, Gabriel (Elsevier/International Federation of Automatic Control, 2014)This paper demonstrates the solutions of digital observer implementation for industrial applications. A nonlinear high-gain discrete observer is proposed to compensate the tracking error due to the flexibility of robot ...
QIN, Jinna; LEONARD, François; ABBA, Gabriel (ASME, 2012)This paper proposes to use a non-linear observer to build the state and the external force of flexible manipulator robots during their machining (composite materials) processes or Friction Stir Welding (FSW) processes. ...
GAUTIER, Maxime; JUBIEN, Anthony; ABBA, Gabriel; QIN, Jinna (ENSAM, 2013)Ce rapport est décomposé en 8 parties. La seconde partie rappelle les bases de la modélisation des robots à architecture série et présente les modélisations des deux robots. La troisième présente les méthodes d'identification ...
JAIN, Achin; QIN, Jinna; ABBA, Gabriel (IFTOMM, 2013)Robotic manipulators are widely used in industry for welding processes. Inadequate joint stiffness in the manipulators often limits their use for high quality welding operations because of the deformation errors produced ...