Hello,
[left]I have project to programing robot. Because the purpose of this project is collaborating human and robot, I use compliance control to control movement of this robot.
The mechanical contain 5DOF(3DOF for arm and 2DOF for XY table). External force is detecting using servo torque, so when human give some force to one of the links, the robot automatically stopped when it moving or follow the force direction when it stationer. When I try the compliance control for the arm(3DOF) they can follow like what I want, but when I try to XY table(2DOF) strong vibration occurs.
Is there some one have experience using compliance control?
robot specification:
5 DOF AC Servo
For Up-Down link supported by pneumatic(only 1 link)[/left]
Greetings,
Desta
Hi Desta,
If you get hunting it might be your PID system which do not like the mechanical aspect of this portion of the project.
Thanks for your answer Eric Nantel,
Now I don’t use PID, I use Newton Law Equation. are there any different point to calculate torque in rotational and linear?
Can you provide a few clear images of your X/Y table? For troubleshooting, you really need to get a clear understanding of what’s going on mechanically, in the sensors and in the code. It’s a lot to try to help troubleshoot this far into a project, especially when it’s entirely custom designed and built. You indicate the positioning table vibrates strongly - have you tried guiding it at various places (i.e. human input at different locations), which might affect the current being sensed? Also, the current draw for the X/Y table will likely be very different than for the joints in the arm, and your code will have to change accordingly. As indicated, you’ll need to be the one who ultimately solves the issue because you’re the only person who has access to the mechanics and software. What we can do here is to try to raise questions and perhaps provide a bit of guidance and to what to look for (successfully or not).
