Experiment Model and Multi Sensor Fusion Methods for Contact Force Control

다국어 초록 (Multilingual Abstract)

This paper is to essentially introduce to fusion method of multi sensor including of force, position and acceleration sensors to improve the grinding or deburring engineering. The sensor fusion method reflects the tool working on work-piece while maintaining a desired contact force by using Intelligent Deburring Control (IDC) device. The force sensor measures actual force, the position sensor observes the operation of pneumatic cylinders of IDC device for triggering and halting the air supply, and the acceleration sensor estimated inertial force of end-effector. The system with combination of these sensors is validated by experiments following on compliant linear module in LabVIEW/Real time environment with NI cRIO 9012 and FPGA interface module. The compliant movement of linear module is driven by using a variable speed and direction step motor.

목차 (Table of Contents)

• Abstract
• 1. INTRODUCTION
• 2. DESCRIPTION OF EXPERIMENT APPARATUS
• 3. CONTROL ALGORITHM PROPOSAL
• 4. MULTI SENSOR FUSION MEASUREMENT
• 5. REAESRCH TARGET and DISCUSION
• References