Robust design of independent joint control of industrial robots with secondary encoders

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

doi:10.1016/j.rcim.2021.102232

Cited by 24 publications

(13 citation statements)

References 39 publications

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“…For arbitrary orientation of the hand, bending moments from the indicated forces are required (1). Such moments of forces arise due to the fact that the axes of the pipelines are displaced relative to the central axis of the hand by the amount of eccentricity «e»can be seen Figure 2:…”

Section: Simulation Of a Flexible Handmentioning

confidence: 99%

“…One of the promising directions in the development of robotics is the creation of anthropomorphous structures that are as close as possible to the skeleton and human image. This direction is explained by the desire to increase the versatility of industrial robots of classical design [1], [2]. Known robot manipulators are  ISSN:2302-9285 capable of performing a wide variety of industrial operations.…”

Section: Introductionmentioning

confidence: 99%

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Design and modeling industrial intelligent robot flexible hand

et al. 2022

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The article describes a description of a fundamentally new design, mathematical model and experimental research of a flexible arm with an anthropomorphic gripper for an industrial robot. The advantage of the proposed design of the robot arm in comparison with the known traditional technical solutions is achieved as close as possible to the functions of the human arm. This property significantly increases the versatility of the robot arm when performing various technological operations. Another difference from the known models of industrial robots is the presence of an anthropomorphic gripping device in the flexible arm, which allows you to service products with different shapes and arbitrary coordinates in space. In addition, the article for the first time proposes a method for calculating the parameters of a new hand and experimental studies of its functioning, which will allow engineers in the field of robotics to create similar designs. The economic effect of the proposed design is that the implementation of the movements of the proposed robot arm does not require separate electromechanical drives for each joint of the kinematic chain of the manipulator. This effect significantly reduces the cost of a robot arm while expanding its technological capabilities.

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Section: Simulation Of a Flexible Handmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design and modeling industrial intelligent robot flexible hand

et al. 2022

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“…All applications running on this platform are developed in C++. A more detailed description of the experimental setup is given in [26].…”

Section: A Experimental Setupmentioning

confidence: 99%

“…The robot manufacturer Fanuc utilizes SEs in an additional control loop to compensate the joint torsion at low velocities to increase the static positioning accuracy [25]. The use of SEs for the position control of a P-PI cascade control increases the absolute accuracy and improves the low frequency disturbance rejection behavior [26]. For many practical, nonlinear engineering applications, gain scheduling has proven to be a successful control method [27].…”

Section: Introductionmentioning

confidence: 99%

“…The main contribution of this paper is to extend this approach using a LPV-based gain-scheduled control design. Furthermore, the approach is enhanced with the one presented in [26], where an optimization-based design of a robust P-PI with SEs for the position control loop was proposed. We show that the control approach and its inherent robustness improve the dynamic path accuracy of IRs with heavy payload despite uncertain drivetrain dynamics and under variation of the manipulator configuration.…”

Section: Introductionmentioning

confidence: 99%

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Gain-Scheduled Drive-based Damping Control for Industrial Robots

Mesmer

Hinze

Lechler

et al. 2022

2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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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.

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