The paper reports on the development of hybrid force-velocity control to enable an end-effector tool to track the unknown contours of a pile of granular material. It has potential application to raw materials handling. Experimental measurements are used to determine an empirical force-motion model. Then a contour-following control law is proposed and proven to be stable regarding the model. The controller is applied experimentally and demonstrated to reliably track both normal force and tangential velocity for various unknown contours. Finally, an adaptive control method is developed and shown to improve the controller's tolerance to variations in contact parameters.
|Number of pages||8|
|Journal||Control Engineering Practice|
|Publication status||Published - Oct 1999|
- Hybrid force-velocity control
- Model-based adaptive control
- Robot control