Concurrent Optimization for Selection and Control of AC Servomotors on the Powertrain of Industrial Robots

Padilla-García, Erick Axel; Rodríguez-Ángeles, Alejandro; Reséndiz, Juvenal Rodríguez; Cruz-Villar, Carlos A.

doi:10.1109/access.2018.2840537

Cited by 37 publications

(26 citation statements)

References 28 publications

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“…In addition, the proposed HRCO can be applied not only to a collaborative robot but to various robot systems that physically interact with operators, such as wearable robots and haptic systems. In future studies, HRCO will be applied as a cost function to multi-objective optimization, such as minimizing interactions and securing robustness against various external disturbances [ 33 ].…”

Section: Discussionmentioning

confidence: 99%

Variable Admittance Control Based on Human–Robot Collaboration Observer Using Frequency Analysis for Sensitive and Safe Interaction

Kim

Yang

2021

Sensors

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A collaborative robot should be sensitive to the user intention while maintaining safe interaction during tasks such as hand guiding. Observers based on the discrete Fourier transform have been studied to distinguish between the low-frequency motion elicited by the operator and high-frequency behavior resulting from system instability and disturbances. However, the discrete Fourier transform requires an excessively long sampling time. We propose a human–robot collaboration observer based on an infinite impulse response filter to increase the intention recognition speed. By using this observer, we also propose a variable admittance controller to ensure safe collaboration. The recognition speed of the human–robot collaboration observer is 0.29 s, being 3.5 times faster than frequency analysis based on the discrete Fourier transform. The performance of the variable admittance controller and its improved recognition speed are experimentally verified on a two-degrees-of-freedom manipulator. We confirm that the improved recognition speed of the proposed human–robot collaboration observer allows us to timely recover from unsafe to safe collaboration.

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Section: Discussionmentioning

confidence: 99%

Variable Admittance Control Based on Human–Robot Collaboration Observer Using Frequency Analysis for Sensitive and Safe Interaction

Kim

Yang

2021

Sensors

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“…One of the main identified problems for mobility is the dynamic response of the motorwheels in a complex control scheme like the Swerve drive. As future work, an analytical tool [57] can be used to optimize drive control.…”

Section: Discussionmentioning

confidence: 99%

Innovative Mobile Manipulator Solution for Modern Flexible Manufacturing Processes

Outón

Villaverde

Herrero

et al. 2019

Sensors

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There is a paradigm shift in current manufacturing needs that is causing a change from the current mass-production-based approach to a mass customization approach where production volumes are smaller and more variable. Current processes are very adapted to the previous paradigm and lack the required flexibility to adapt to the new production needs. To solve this problem, an innovative industrial mobile manipulator is presented. The robot is equipped with a variety of sensors that allow it to perceive its surroundings and perform complex tasks in dynamic environments. Following the current needs of the industry, the robot is capable of autonomous navigation, safely avoiding obstacles. It is flexible enough to be able to perform a wide variety of tasks, being the change between tasks done easily thanks to skills-based programming and the ability to change tools autonomously. In addition, its security systems allow it to share the workspace with human operators. This prototype has been developed as part of THOMAS European project, and it has been tested and demonstrated in real-world manufacturing use cases.

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“…It was necessary to get access to the data-sheet of the actuator to design a point-to-point trajectory [1], and check for some specific characteristics as torque, minimum and maximum values for the velocity and acceleration, and so on [28,29]. These parameters can be used by the designer for solving a determined task using delimiter parameters to prevent damage caused under dynamic loads initiated by molecular bond separation in the material, and to reduce the vibrations on the actuator [25,30,31].…”

Section: Proposed Methods To Compute the Desired Jerkmentioning

confidence: 99%

A New Seven-Segment Profile Algorithm for an Open Source Architecture in a Hybrid Electronic Platform

2019

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The velocity profiles are used in the design of trajectories in motion control systems. It is necessary to design smoother movements to avoid high stress in the motor. In this paper, the rate of change in acceleration value is used to develop an S-curve velocity profile which presents an acceleration and deceleration stage smoother than the trapezoidal velocity profile reducing the error at the end of the duty-cycle pre-established in one degree of freedom (DoF) application. Furthermore, a new methodology is developed to generate a seven-segment profile that works with negative velocity and displacement constraints applying an open source architecture in a hybrid electronic platform compounded by a system on a chip (SoC) Raspberry Pi 3 and a field programmable gate array (FPGA). The performance of the motion controller is measured through the comparison of the error obtained in real-time application with a trapezoidal velocity profile. As a result, a low-cost platform and an open architecture system are achieved.

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Concurrent Optimization for Selection and Control of AC Servomotors on the Powertrain of Industrial Robots

Cited by 37 publications

References 28 publications

Variable Admittance Control Based on Human–Robot Collaboration Observer Using Frequency Analysis for Sensitive and Safe Interaction

Variable Admittance Control Based on Human–Robot Collaboration Observer Using Frequency Analysis for Sensitive and Safe Interaction

Innovative Mobile Manipulator Solution for Modern Flexible Manufacturing Processes

A New Seven-Segment Profile Algorithm for an Open Source Architecture in a Hybrid Electronic Platform

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