Precise robot motions using dual motor control

Robertz, Sven Gestegard; Halt, Lorenz; Kelkar, Sameer; Nilsson, Klas; Robertsson, Anders; Schar, Dominique; Schiffer, Johannes

doi:10.1109/robot.2010.5509384

Cited by 27 publications

(11 citation statements)

References 6 publications

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“…In fact, reciprocating movement always occurs in a tracking control system of gimbal, because target trajectory can move forth and back or down and up. An approach based on dual motors connected in parallel to the load to eliminate backlash without by means of software and feedback control [ 11 ]. But, these mechanical techniques require changing or adding some parts on the mechanical systems, leading to high production cost.…”

Section: Introductionmentioning

confidence: 99%

Combining Load and Motor Encoders to Compensate Nonlinear Disturbances for High Precision Tracking Control of Gear-Driven Gimbal

Tang

Chen

Huang

et al. 2018

Sensors

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High-performance position control can be improved by the compensation of disturbances for a gear-driven control system. This paper presents a mode-free disturbance observer (DOB) based on sensor-fusion to reduce some errors related disturbances for a gear-driven gimbal. This DOB uses the rate deviation to detect disturbances for implementation of a high-gain compensator. In comparison with the angular position signal the rate deviation between load and motor can exhibits the disturbances exiting in the gear-driven gimbal quickly. Due to high bandwidth of the motor rate closed loop, the inverse model of the plant is not necessary to implement DOB. Besides, this DOB requires neither complex modeling of plant nor the use of additive sensors. Without rate sensors providing angular rate, the rate deviation is easily detected by encoders mounted on the side of motor and load, respectively. Extensive experiments are provided to demonstrate the benefits of the proposed algorithm.

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Section: Introductionmentioning

confidence: 99%

Combining Load and Motor Encoders to Compensate Nonlinear Disturbances for High Precision Tracking Control of Gear-Driven Gimbal

Tang

Chen

Huang

et al. 2018

Sensors

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“…Another approach is to use drives with two jointly controlled motors, one of which produces a torque opposing the primary motor [7,22]. That creates a closed force system and rules out the negative influ ence of gaps in the mechanical transmissions on the drive precision.…”

Section: Introductionmentioning

confidence: 99%

Improving the precision of mechatronic robot drives

Ilyukhin

Poduraev

2016

Russ. Engin. Res.

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A new structure is proposed for precision servo drives in industrial robots, and its properties are analyzed. The servo drive is a mechatronic device containing high precision sensors, microcontrollers, and electrical and mechanical components. The theoretical results that underlie the design of a precision drive containing an elastic mechanical transmission with free play are outlined. Computer simulation indicates high precision of the drive and its suitability for use in industrial robots.

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“…In recent years, high response, high accuracy and good stiffness are in demand for robots in many applications so parallel type robots have become more popular in industrial automation due to their serial type robot advantages, i.e. , high stiffness, high motion accuracy and high load-structure ratio [ 6 , 7 ]. Moreover, the position of the end-effector of robot is calculated by the position sensors of the actuators through kinematic analysis, but the calculated 3D position of the end-effector cannot consider the manufacturing and assembly tolerance of the joints and the parallel mechanism so that errors exist between the actual position and the calculated 3D position of the end-effector, thus influencing the position accuracy of the robot end-effector [ 8 ].…”

Section: Introductionmentioning

confidence: 99%

Development of a 3D Parallel Mechanism Robot Arm with Three Vertical-Axial Pneumatic Actuators Combined with a Stereo Vision System

Chiang

Lin

2011

Sensors

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This study aimed to develop a novel 3D parallel mechanism robot driven by three vertical-axial pneumatic actuators with a stereo vision system for path tracking control. The mechanical system and the control system are the primary novel parts for developing a 3D parallel mechanism robot. In the mechanical system, a 3D parallel mechanism robot contains three serial chains, a fixed base, a movable platform and a pneumatic servo system. The parallel mechanism are designed and analyzed first for realizing a 3D motion in the X-Y-Z coordinate system of the robot’s end-effector. The inverse kinematics and the forward kinematics of the parallel mechanism robot are investigated by using the Denavit-Hartenberg notation (D-H notation) coordinate system. The pneumatic actuators in the three vertical motion axes are modeled. In the control system, the Fourier series-based adaptive sliding-mode controller with H∞ tracking performance is used to design the path tracking controllers of the three vertical servo pneumatic actuators for realizing 3D path tracking control of the end-effector. Three optical linear scales are used to measure the position of the three pneumatic actuators. The 3D position of the end-effector is then calculated from the measuring position of the three pneumatic actuators by means of the kinematics. However, the calculated 3D position of the end-effector cannot consider the manufacturing and assembly tolerance of the joints and the parallel mechanism so that errors between the actual position and the calculated 3D position of the end-effector exist. In order to improve this situation, sensor collaboration is developed in this paper. A stereo vision system is used to collaborate with the three position sensors of the pneumatic actuators. The stereo vision system combining two CCD serves to measure the actual 3D position of the end-effector and calibrate the error between the actual and the calculated 3D position of the end-effector. Furthermore, to verify the feasibility of the proposed parallel mechanism robot driven by three vertical pneumatic servo actuators, a full-scale test rig of the proposed parallel mechanism pneumatic robot is set up. Thus, simulations and experiments for different complex 3D motion profiles of the robot end-effector can be successfully achieved. The desired, the actual and the calculated 3D position of the end-effector can be compared in the complex 3D motion control.

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Precise robot motions using dual motor control

Cited by 27 publications

References 6 publications

Combining Load and Motor Encoders to Compensate Nonlinear Disturbances for High Precision Tracking Control of Gear-Driven Gimbal

Combining Load and Motor Encoders to Compensate Nonlinear Disturbances for High Precision Tracking Control of Gear-Driven Gimbal

Improving the precision of mechatronic robot drives

Development of a 3D Parallel Mechanism Robot Arm with Three Vertical-Axial Pneumatic Actuators Combined with a Stereo Vision System

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