POSITION CONTROL OF INDUSTRIAL ROBOTS — IMPACTS, CONCEPTS AND RESULTS

1989 ◽  
pp. 81-89 ◽  
Author(s):  
H.-B. Kuntze
Keyword(s):  
Position Control ◽  
Industrial Robots

Roboterbasierte spanende Bearbeitung*/Robot-Based Milling Operation. Machine Learning Algorithm for a model-based feed-forward torque control

2019 ◽  
Vol 109 (05) ◽  
pp. 352-357
Author(s):  
C. Brecher ◽  
L. Gründel ◽  
L. Lienenlüke ◽  
S. Storms
Keyword(s):  
Machine Learning ◽  
Position Control ◽  
Learning Algorithm ◽  
Milling Process ◽  
Industrial Robots ◽  
Torque Control ◽  
Feed Forward ◽  
Control Loops ◽  
Model Based ◽  
Machine Learning Approach

Die Lageregelung von konventionellen Industrierobotern ist nicht auf den dynamischen Fräsprozess ausgelegt. Eine Möglichkeit, das Verhalten der Regelkreise zu optimieren, ist eine modellbasierte Momentenvorsteuerung, welche in dieser Arbeit aufgrund vieler Vorteile durch einen Machine-Learning-Ansatz erweitert wird. Hierzu wird die Umsetzung in Matlab und die simulative Evaluation erläutert, die im Anschluss das Potenzial dieses Konzeptes bestätigt.   The position control of conventional industrial robots is not designed for the dynamic milling process. One possibility to optimize the behavior of the control loops is a model-based feed-forward torque control which is supported by a machine learning approach due to many advantages. The implementation in Matlab and the simulative evaluation are explained, which subsequently confirms the potential of this concept.

Schwingungsdämpfung bei Industrierobotern

atp magazin ◽  
2016 ◽  
Vol 58 (10) ◽  
pp. 48
Author(s):  
Michael Neubauer ◽  
Hendrik Vieler ◽  
Armin Lechler ◽  
Alexander Verl
Keyword(s):  
Dynamic Simulation ◽  
Industrial Production ◽  
Position Control ◽  
Active Damping ◽  
Industrial Robots

The wish for shorter through-put times in the industrial production is connected with higher requirements on the dynamic of industrial robots. These are susceptible to vibrations due to the combination of serial kinematics, flexible gears and the drive-sided position control of the axes. In order to counteract this circumstance, an approach to reduce vibrations via semi-active damping is presented in this article. The potential of the method is demonstrated by means of a forward dynamic simulation.

Force and Position Control of Industrial Robots for Manufacturing Purposes

1985 ◽  
Vol 18 (16) ◽  
pp. 379-385 ◽  
Author(s):  
H.-B. Kuntze ◽  
A. Jacubasch ◽  
E. Brodbeck
Keyword(s):  
Position Control ◽  
Industrial Robots

Fast sensor guidance of industrial robots – experimental results

Robotica ◽  
1999 ◽  
Vol 17 (1) ◽  
pp. 17-21
Author(s):  
Klaus Feldmann ◽  
Matthias Wenk ◽  
Josef Zeller
Keyword(s):  
Position Control ◽  
Industrial Robot ◽  
Design Tool ◽  
Industrial Robots ◽  
Experimental Results ◽  
Sensor Data ◽  
Processing Technologies ◽  
Control Loops ◽  
Sensor Control

For securing and increasing the quality of various material processing technologies a flexible sensor data integration is indispensable. Hence, a powerful and configurable sensor-robot-system was designed and implemented, integrating sensor data into industrial robot controls within the interpolation or the position control clock rate. Different controllers were designed and the system responses of the control loops were simulated and optimized by an efficient control design tool. Experimental results on the achievable path accuracy are presented. Finally, some application for the developed sensor control loops are introduced.

Research on Compensating Method of Flux Fluctuations in Permanent Magnet of AC Servo System

2012 ◽  
Vol 433-440 ◽  
pp. 4071-4076
Author(s):  
Bao Zhong Qu ◽  
Er Bao Peng
Keyword(s):  
Permanent Magnet ◽  
High Speed ◽  
Position Control ◽  
Servo System ◽  
Industrial Robots ◽  
Control Measures ◽  
Cnc Machine Tools ◽  
Servo Drive ◽  
Ac Servo System ◽  
Ac Servo

This paper suggests a compensating method of flux fluctuations in permanent magnet of AC servo system. after analyzing the characteristics and control measures of flux fluctuations, the compensation strategy for reducing the effect of flux fluctuations on electromagnetic torque is put forward. Though the simulation experiments it is shown that the flux compensation method for improving the position control accuracy of the movers when their running at high speed is proved to be positive effective. For CNC machine tools, industrial robots and other occasions involving sophisticated movement, synchronous servo motors in permanent magnet are usually driven by high-performance sine wave. In order to obtain good control performance, the high demands are put forward for reducing the torque fluctuations Torque fluctuations are an important factor to affect the stability of low speed servo drive system, high-speed stability and precision position control. There are many factors causing torque fluctuations, in which the flux fluctuations in permanent magnet are an important one.

A fixed-distance planning algorithm for 6-DOF manipulators

2015 ◽  
Vol 42 (6) ◽  
pp. 586-599 ◽  
Author(s):  
Mingyu Gao ◽  
Da Chen ◽  
Yuxiang Yang ◽  
Zhiwei He
Keyword(s):  
Trajectory Planning ◽  
Degrees Of Freedom ◽  
Position Control ◽  
Control Strategies ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Cartesian Coordinates ◽  
Content Type ◽  
Fixed Distance ◽  
Planning Algorithm

Purpose – The purpose of this paper is to propose a new trajectory planning algorithm for industrial robots, which can let the robots move through a desired spatial trajectory, avoid colliding with other objects and achieve accurate movements. Trajectory planning algorithms are the soul of motion control of industrial robots. A predefined space trajectory can let the robot move through the desired spatial coordinates, avoid colliding with other objects and achieve accurate movements. Design/methodology/approach – The mathematical expressions of the proposed algorithm are deduced. The speed control, position control and orientation control strategies are realized and verified with simulations, and then implemented on a six degrees of freedom (6-DOF) industrial robot platform. Findings – A fixed-distance trajectory planning algorithm based on Cartesian coordinates was presented. The linear trajectory, circular trajectory, helical trajectory and parabolic trajectory in Cartesian coordinates were implemented on the 6-DOF industrial robot. Originality/value – A simple and efficient algorithm is proposed. Enrich the kind of trajectory which the industrial robot can realize. In addition, the industrial robot can move more concisely, smoothly and precisely.

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