Drive-Based Vibration Damping Control for Robot Machining

Mesmer, Patrick; Neubauer, Michael; Lechler, Armin; Verl, Alexander

doi:10.1109/lra.2019.2960723

Cited by 16 publications

(8 citation statements)

References 24 publications

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“…7. Since only the joint positions are measured via the SEs, but their derivatives are required, the Unscented Kalman Filter (UKF) presented in [32] is used. First, the LTI vertex controllers of the LPV controller (26) are designed according to the H ∞ theory.…”

Section: Controller Synthesis and Experimental Resultsmentioning

confidence: 99%

Gain-Scheduled Drive-based Damping Control for Industrial Robots

Mesmer¹,

Hinze²,

Lechler³

et al. 2021

Preprint

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<p>The drivetrain flexibility of industrial robots limits their accuracy. To open up new areas of application for industrial robots, an increased dynamic path accuracy has to be obtained. Therefore, this paper addresses this issue by a gain-scheduled drive-based damping control for industrial robots with secondary encoders. For this purpose, a linear parameter-varying (LPV) model is derived as well as a system identification method is presented. Based on this, a gain-scheduled drive-based LPV damping control design is proposed, which guarantees stability and performance under variation of the manipulator configuration. The control performance of the approach is experimentally validated for the three base joints of a KUKA KR210-2 industrial robot. The approach realizes a trade-off between ease of implementation and control performance as well as robustness.</p>

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Section: Controller Synthesis and Experimental Resultsmentioning

confidence: 99%

Gain-Scheduled Drive-based Damping Control for Industrial Robots

Mesmer¹,

Hinze²,

Lechler³

et al. 2021

Preprint

Self Cite

View full text Add to dashboard Cite

show abstract

“…The method shows a significant reduction of trajectory tracking error compared to a conventional PD controller. Similarly, the authors in [17] show an improvement in dynamic path accuracy of a robot manipulator in a machining process, proposing a controller built on an independent joint control. A damping control algorithm is designed and validated experimentally, based on a velocity feedback using SE.…”

Section: Introductionmentioning

confidence: 96%

“…High precision transmission drives, such as cycloid gears and harmonic drives, are typically used for industrial robots in order to meet high precision requirements. Simplified models taking into account linear stiffness and damping between the motor and the driven link are used in [13][14][15][16][17]. An overview of further simplified models can be found in [18].…”

Section: Introductionmentioning

confidence: 99%

Flatness Based Control of an Industrial Robot Joint Using Secondary Encoders

Weigand,

Gafur,

Ruskowski

2021

Preprint

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Due to their compliant structure, industrial robots without precision-enhancing measures are only to a limited extent suitable for machining applications. Apart from structural, thermal and bearing deformations, the main cause for compliant structure is backlash of transmission drives. This paper proposes a method to improve trajectory tracking accuracy by using secondary encoders and applying a feedback and a flatness based feed forward control strategy. For this purpose, a novel nonlinear, continuously differentiable dynamical model of a flexible robot joint is presented. The robot joint is modeled as a two-mass oscillator with pose-dependent inertia, nonlinear friction and nonlinear stiffness, including backlash. A flatness based feed forward control is designed to improve the guiding behaviour and a feedback controller, based on secondary encoders, is implemented for disturbance compensation. Using Automatic Differentiation, the nonlinear feed forward controller can be computed in a few microseconds online. Finally, the proposed algorithms are evaluated in simulations and experimentally on a real KUKA Quantec KR300 Ultra SE.

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“…Therefore, to minimize the deformation of robot structure and ensure good machining quality, the parameters of robot should be considered synthetically at the stage of process planning. Moreover, dynamic properties such as cutting force and vibration in machining process should be recorded in real-time to monitor the machining status, and to get posture more suitable for machining or to reduce the chatter in robot machining [5], [6].…”

Section: Introductionmentioning

confidence: 99%

The Architecture, Methodology and Implementation of STEP-NC Compliant Closed-Loop Robot Machining System

Guo

et al. 2022

IEEE Access

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Industrial robots are gradually being employed in machining processes, particularly the cutting process, owing to their flexibility, mobility, and economic efficiency. However, it is difficult to make the manufacturing process intelligent owing to the complexity of robot machining process information handling and programming. In this paper, the architecture of a STEP-NC compliant closed-loop robot machining system was designed, including its function model and information stream. A methodology based on STEP-NC was established to enable the analysis of high-level information directly and automatically generating robot program according to the actual machining conditions. The STEP-NC Application Activity Model (AAM) and Application Reference Model (ARM) of closed-loop robot machining system is built to integrate the machining process data, monitoring and inspection data, mechanical equipment data, machining status data and inspection result data within a unified data flow, making it possible to realize intelligent manufacturing and adaptively adjusting the robot machining process. The proposed closed-loop robot machining system was implemented based on an open STEP-NC interpreter that interprets the high level information in STEP-NC directly to reduce machining robot programming time. An industrial camera was integrated with the robot for rawpiece positioning, then the STEP-NC interpreter can generate robot path rapidly according to the parameters of manufacturing features and position of rawpiece. The STEP-NC interpreter can generate a robot control program or communicate with a software controller using an application program interface, so it can be integrated with both existing industrial robot controllers and future open robot controllers. Finally, case studies are conducted for the functional verification of the proposed STEP-NC compliant closed-loop robot machining system.

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Drive-Based Vibration Damping Control for Robot Machining

Cited by 16 publications

References 24 publications

Gain-Scheduled Drive-based Damping Control for Industrial Robots

Gain-Scheduled Drive-based Damping Control for Industrial Robots

Flatness Based Control of an Industrial Robot Joint Using Secondary Encoders

The Architecture, Methodology and Implementation of STEP-NC Compliant Closed-Loop Robot Machining System

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