Robust Vibration Control for Scara-Type Robot Manipulators

Kang, Zhan; Chai, Tianyou; Oshima, Kazuhiko; Yang, Jianming; Fujii, Seizo

doi:10.1016/s0967-0661(97)00078-6

Cited by 23 publications

(11 citation statements)

References 6 publications

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“…The allowable ranges S + and S -of the servo parameters are obtained by considering the influences of the error margins of the velocity loop gain K v as Based on Eqs. (6) and (13), we obtain the allowable range S of unadjusted servo parameters K p and K v , within which accurate contour control of a mechatronic servo system can be obtained by appropriately setting the poles of modified input data method:…”

Section: Determination Of Allowable Ranges Of Unadjusted Servo Paramementioning

confidence: 99%

“…Many methods such as adaptive control [5], robust control [6], the coefficient diagram method [7], and so on have been investigated in an attempt to achieve accurate contour control of mechatronic servo systems in high-speed motion. Recently, techniques of adding a controller for the servocontroller, such as model reference control [8], velocity feed-forward control [9] and so on, have also been applied to real mechatronic systems in industry.…”

Section: Introductionmentioning

confidence: 99%

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Accurate contour control of mechatronic servo systems without parameter adjustment by use of modified input data method

Liu

Nakamura

Goto

et al. 2007

Electrical Engineering Japan

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This paper describes an accurate contour control by a modified input data method for industrial mechatronic servo systems without adjustment of servo parameters. Adjustment of servo parameters is a tedious task to achieve high performance contour control in mechatronic servo systems. The modified input data method can realize adequately accurate contour control performance within considerably large tolerance in servo parameter errors. The effectiveness of the proposed method has been verified by simulation and experimental studies on contour control of an actual mechatronic servo system.

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Section: Determination Of Allowable Ranges Of Unadjusted Servo Paramementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Accurate contour control of mechatronic servo systems without parameter adjustment by use of modified input data method

Liu

Nakamura

Goto

et al. 2007

Electrical Engineering Japan

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“…In the flexible-joint case, several approaches have been proposed to deal with the performance-robustness trade-off. In [12], robustness with respect to model uncertainties resulting from an imperfect feedback linearization is achieved using µ-synthesis. H ∞ design techniques are applied to deal with disturbances resulting from transmission nonlinearities in Harmonic Drive gears [13], to formalize trade-offs between frequency domain specifications in a feedforward and feedback control scheme [14] or to address the problem of control effort limitation in a robust composite control approach [15].…”

Section: Introductionmentioning

confidence: 99%

Comparison of two robust predictive control strategies for trajectory tracking of flexible-joint robots

Makarov¹,

Grossard²,

Rodríguez-Ayerbe³

et al. 2014

2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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“…Linearization techniques for the robust control of robot manipulators with uncertainty have been the subject of many research studies. For example as referenced in [1], Kawabata et al (1993) and Takayanagi et al (1993) studied robust position controllers for a two-link manipulator. Tern et al [2] presented a dynamic modelling and linearization technique for a SCARA robot.…”

Section: Iintroductionmentioning

confidence: 99%

Control of Two Link SCARA Robot Using Quantitative Feedback Theory

Rao¹,

Raja²,

Kumar³

2014

IJAREEIE

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SCARA Robots are mainly suitable for pick-and-place operations such as part handling, assembly, etc. Till now, many controllers are designed (like Trial and error, ZN PID and IMC etc) to control a Scara robot to meet desired position. The main drawbacks of those controllers are if plant parameter changes automatically system performance changes. In this paper, to overcome this drawback Quantitative Feedback Theory (QFT) has proposed for single and two link SCARA Robot. KEYWORDS: SCARA, QFT, Robust Controller, IMC, PID I.INTRODUCTIONSCARA (Selective Compliance assembly Robot Arm) robots are horizontally articulated manipulator with a vertical joint at the wrist end. Generally the robot configuration has one vertical (linear) and two revolute joints, it was designed by Professor Makino of Yamanashi University, Japan, and they are ideally suited for operations in which the vertical motion requirements are small compared to the horizontal motion requirements. Such an application would be assembly work where parts are picked up from a parts holder and moved along a nearly horizontal path to the unit being assembled. Fig.1 shows the Two link scara robot model. Potential problems arise mainly due to the positioning errors in assembly. The Adaptive and model-based control strategies cannot overcome the structure of uncertainties of a robotic system . Dynamic models of robot manipulators consist of highly non-linear coupled second-order differential equations. Non-linearity and parameter variations in real systems prevents, ordinary linear time-invariant control schemes achieving a satisfactory control performance. Linearization techniques for the robust control of robot manipulators with uncertainty have been the subject of many research studies. The SCARA robot is used for clean-room applications, such as wafer and disk handling in the electronics industry. It performs many tasks in a fraction of the time it would take a human. Whether constructing something intricate, such as a computer motherboard, or large and hulking, such as the frame of an 18-wheel semi truck, this tool helps increase production and lower costs because of its efficiency.Many practical systems that have high uncertainty levels in their open-loop transfer functions which makes it very difficult to create suitable stability margins and good performance in command following problems for a closed-loop system. Therefore, a single fixed controller in such systems is found among the 'robust control' family. Quantitative feedback theory (QFT) is a robust feedback control-system design technique which allows the direct design to closed-loop robust performance and stability specifications [4].QFT not only uses transfer function approach but also takes phase information into account in the design process. The unique feature of QFT is that the performance specifications are expressed as bounds on the frequency-domain response. Meeting these bounds implies a corresponding approximate closed-loop realization of the time-domain response bounds for a gi...

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Robust Vibration Control for Scara-Type Robot Manipulators

Cited by 23 publications

References 6 publications

Accurate contour control of mechatronic servo systems without parameter adjustment by use of modified input data method

Accurate contour control of mechatronic servo systems without parameter adjustment by use of modified input data method

Comparison of two robust predictive control strategies for trajectory tracking of flexible-joint robots

Control of Two Link SCARA Robot Using Quantitative Feedback Theory

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