Development of an Experimental Robotic Complex for Direct Metal Deposition and Testing of Deposition Modes for Heat-Resistant Powder Material

Mapping Intimacies ◽

10.21741/9781644901755-61 ◽

2022 ◽

Author(s):

M.A. Oleynik

Keyword(s):

Mathematical Model ◽

Robot Manipulator ◽

Industrial Robot ◽

Metal Deposition ◽

Direct Metal Deposition ◽

Joint Work ◽

Control Programs ◽

Tool Trajectory ◽

Working Together ◽

And Control

Abstract. The paper considers the issue of optimizing the movement of an industrial robot used in additive manufacturing in the technology of direct metal deposition of parts. The developed mathematical model that takes into account the joint work of a six-axis robot manipulator and a two-axis positioner is described. The algorithm for calculating the motion based on the relative position of two adjacent points of the working tool trajectory relative to the rotary axis of the positioner with a given accuracy is described. The simulation of processing is carried out both when working only with the manipulator, and when working together with a two-axis positioner, and control programs with recalculated coordinates and rotation angles of the positioner are obtained.

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Robust sensing and control of direct metal deposition

Pacific International Conference on Applications of Lasers and Optics ◽

10.2351/1.5057083 ◽

2008 ◽

Author(s):

Lijun Song ◽

Jyoti Mazumder

Keyword(s):

Metal Deposition ◽

Direct Metal Deposition ◽

And Control ◽

Robust Sensing

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Optimization in the Design and Control of Robotic Manipulators: A Survey

Applied Mechanics Reviews ◽

10.1115/1.3152423 ◽

1989 ◽

Vol 42 (4) ◽

pp. 117-128 ◽

Cited By ~ 3

Author(s):

S. S. Rao ◽

P. K. Bhatti

Keyword(s):

Optimal Control ◽

Robot Manipulator ◽

Research Effort ◽

Industrial Robot ◽

Load Capacity ◽

Robotic Manipulators ◽

Optimization Techniques ◽

Highly Nonlinear ◽

Manipulator Design ◽

And Control

Robotics is a relatively new and evolving technology being applied to manufacturing automation and is fast replacing the special-purpose machines or hard automation as it is often called. Demands for higher productivity, better and uniform quality products, and better working environments are primary reasons for its development. An industrial robot is a multifunctional and computer-controlled mechanical manipulator exhibiting a complex and highly nonlinear behavior. Even though most current robots have anthropomorphic configurations, they have far inferior manipulating abilities compared to humans. A great deal of research effort is presently being directed toward improving their overall performance by using optimal mechanical structures and control strategies. The optimal design of robot manipulators can include kinematic performance characteristics such as workspace, accuracy, repeatability, and redundancy. The static load capacity as well as dynamic criteria such as generalized inertia ellipsoid, dynamic manipulability, and vibratory response have also been considered in the design stages. The optimal control problems typically involve trajectory planning, time-optimal control, energy-optimal control, and mixed-optimal control. The constraints in a robot manipulator design problem usually involve link stresses, actuator torques, elastic deformation of links, and collision avoidance. This paper presents a review of the literature on the issues of optimum design and control of robotic manipulators and also the various optimization techniques currently available for application to robotics.

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Integrated Model Of Industrial Robot For Control Applications

Jurnal Teknologi ◽

10.11113/jt.v19.1055 ◽

1992 ◽

pp. 27-41

Author(s):

Johari Halim Shah Osman

Keyword(s):

Robot Manipulator ◽

Industrial Robot ◽

Realistic Model ◽

Integrated Model ◽

Control Synthesis ◽

Real Situation ◽

Highly Nonlinear ◽

Gear Trains ◽

And Control ◽

Space Description

This paper deals with the development of an intergrated mathematical model of a robot manipulator. The model of the system comprises the mechanical part of the robot as well as the actuators and the gear trains. Two different approaches of deriving the integrated model are presented which results in two different forms of the integrated dynamic model of the robot manipulator in state space description. Both types of the integrated model are highly nonlinear, time varying, and represent a more realistic model of the robotic system. The integrated model and the approach are useful and suitable for dynamic analysis and control synthesis purposes, and will provide a more efficient approach to the real situation.

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A Research on Impedance Control Based on ANN Inverse System for Robot Manipulator

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.687-691.560 ◽

2014 ◽

Vol 687-691 ◽

pp. 560-563 ◽

Cited By ~ 1

Author(s):

Zhen Yang ◽

Wei Zhang ◽

Shang Lin Yang ◽

Fang Wang

Keyword(s):

Mathematical Model ◽

Robot Manipulator ◽

Impedance Control ◽

Dynamic Control ◽

Difficult Problem ◽

Inverse System ◽

Outer Loop ◽

And Control

Because of lacking the imprecise mathematical model is a difficult problem in the area of dynamic control for robot manipulator. In this paper, a novel scheme which can realize the decoupling for robot by ANN inverse system in the inner loop and control the position and force in the outer loop is presented. The method is studied in the environment of Matlab and is realized by a manipulator in Lab. Analyzed from the experiment result, this algorithm is very feasible and it provides a basis for the further research.

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