Vibration control of a micro/macro-manipulator system

doi:10.1109/37.482134

Cited by 45 publications

(1 citation statement)

References 10 publications

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“…The proposed method is implemented based on a coarse-to-fine strategy inherited from the macro–micro method [12,13]. The macro–micro concept was proposed several decades ago with the aim of enhancing system bandwidth for rigid manipulators and suppressing bending vibrations for flexible manipulators.…”

Section: Introductionmentioning

confidence: 99%

Applying High-Speed Vision Sensing to an Industrial Robot for High-Performance Position Regulation under Uncertainties

Huang

Bergström

Yamakawa

et al. 2016

Sensors

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It is traditionally difficult to implement fast and accurate position regulation on an industrial robot in the presence of uncertainties. The uncertain factors can be attributed either to the industrial robot itself (e.g., a mismatch of dynamics, mechanical defects such as backlash, etc.) or to the external environment (e.g., calibration errors, misalignment or perturbations of a workpiece, etc.). This paper proposes a systematic approach to implement high-performance position regulation under uncertainties on a general industrial robot (referred to as the main robot) with minimal or no manual teaching. The method is based on a coarse-to-fine strategy that involves configuring an add-on module for the main robot’s end effector. The add-on module consists of a 1000 Hz vision sensor and a high-speed actuator to compensate for accumulated uncertainties. The main robot only focuses on fast and coarse motion, with its trajectories automatically planned by image information from a static low-cost camera. Fast and accurate peg-and-hole alignment in one dimension was implemented as an application scenario by using a commercial parallel-link robot and an add-on compensation module with one degree of freedom (DoF). Experimental results yielded an almost 100% success rate for fast peg-in-hole manipulation (with regulation accuracy at about 0.1 mm) when the workpiece was randomly placed.

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Section: Introductionmentioning

confidence: 99%

Applying High-Speed Vision Sensing to an Industrial Robot for High-Performance Position Regulation under Uncertainties

Huang

Bergström

Yamakawa

et al. 2016

Sensors

View full text Add to dashboard Cite

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A Robust Controller for A 3‐DOF Flexible Robot with a Time Variant Payload

Feliú¹,

Castillo²,

Jaramillo³

et al. 2012

Asian Journal of Control

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This article describes a new control scheme designed for a three degree of freedom (3-DOF) flexible robot. The control scheme consists of two multi variable control loops. The inner loop is the motor's position control system, while the outer loop controls the robot tip's position, thus canceling vibrations which are originated by the structural flexibility of the manipulator during movement. As it will be shown, the outer control loop is robust to payload variations. The outer loop performance is based on a perfect cancelation of the inner loop dynamics. The effects of not achieving such perfect cancelation are also studied, and rules for designing a robust controller in this case are developed. Simulations assuming different payloads have been carried out with successful results for trajectory tracking. Trajectory tracking with a variable payload is also achieved.

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Singularity-Consistent Torque Control of a Redundant Flexible-Base Manipulator

Hara

Fukazu

Kanamiya

et al.

Motion and Vibration Control

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A path tracking control method for a kinematically redundant manipulator on a flexible base is proposed. The method is based on dynamic redundancy resolution through a vibration suppression constraint. It is shown that the end-effector path can pass via an algorithmic singularity without destabilizing the system. Simulation data from a planar system is presented, confirming that stable path tracking can be achieved within large portions of the manipulator workspace.

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Vibration control of a micro/macro-manipulator system

Cited by 45 publications

References 10 publications

Applying High-Speed Vision Sensing to an Industrial Robot for High-Performance Position Regulation under Uncertainties

Applying High-Speed Vision Sensing to an Industrial Robot for High-Performance Position Regulation under Uncertainties

A Robust Controller for A 3‐DOF Flexible Robot with a Time Variant Payload

Singularity-Consistent Torque Control of a Redundant Flexible-Base Manipulator

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