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Research on End-Effector Decoupling Control Strategy Based on Dual Force Sensors

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Intelligent Robotics and Applications (ICIRA 2024)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 15203))

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Abstract

This paper proposes a decoupling control algorithm based on dual force sensors to address the coupling between force and motion of end-effector, industrial robots, and end-effector series connection, friction, and coupling forces caused by nonlinear factors. Install a force sensor for decoupling between the end-effector and the industrial robotic arm and another between the end-effector and the polishing head to obtain the interaction force in contact with the workpiece and feedback to the control circuit. In order to verify the effectiveness of decoupling, the decoupling control algorithm was integrated into impedance and admittance control. The goal of eliminating coupling forces was achieved by separating the effects of various inherent dynamics in the system (such as inertial effects and friction) from the required control inputs. Decoupling frees the control system from these dynamic entanglements, enabling it to respond more accurately and adaptively to external forces and environmental disturbances. Experimental results have shown that the bandwidth of the system is increased after decoupling, which can improve the system’s anti-interference ability and tracking performance.

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Acknowledgement

This work was supported by the National Key Research and Development Program of China (2022YFB4702500), the National Natural Science Foundation of China (U23A20616), and the Key Research and Development Program of Zhejiang Province (2022C01096).

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Authors and Affiliations

  1. School of Mechanical and Electrical Engineering, Jiangxi University of Science and Technology, Ganzhou, 341000, Jiangxi, China

    Ying Zhong & Yuncai Zhao

  2. Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, China

    Ying Zhong, Han Chen, Chin-Yin Chen, Junjie Dai & Chi Zhang

Authors
  1. Ying Zhong
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  2. Han Chen
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  3. Chin-Yin Chen
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  4. Junjie Dai
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  5. Yuncai Zhao
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  6. Chi Zhang
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Corresponding author

Correspondence to Chin-Yin Chen .

Editor information

Editors and Affiliations

  1. Xi’an Jiaotong University, Xi’an, China

    Xuguang Lan

  2. Xi’an Jiaotong University, Xi’an, China

    Xuesong Mei

  3. Xi’an Jiaotong University, Xi’an, China

    Caigui Jiang

  4. Xi’an Jiaotong University, Xi’an, China

    Fei Zhao

  5. Xi'an Jiaotong University, Xi'an, China

    Zhiqiang Tian

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Zhong, Y., Chen, H., Chen, CY., Dai, J., Zhao, Y., Zhang, C. (2025). Research on End-Effector Decoupling Control Strategy Based on Dual Force Sensors. In: Lan, X., Mei, X., Jiang, C., Zhao, F., Tian, Z. (eds) Intelligent Robotics and Applications. ICIRA 2024. Lecture Notes in Computer Science(), vol 15203. Springer, Singapore. https://doi.org/10.1007/978-981-96-0795-2_20

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  • DOI: https://doi.org/10.1007/978-981-96-0795-2_20

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-96-0794-5

  • Online ISBN: 978-981-96-0795-2

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