High performance final state control system based on minimum-jerk trajectory for industrial robots

2011 ◽  
Author(s):  
Takashi Yoshioka ◽  
Naoki Shimada ◽  
Kiyoshi Ohishi ◽  
Toshimasa Miyazaki
Keyword(s):  
Control System ◽  
High Performance ◽  
Industrial Robots ◽  
State Control ◽  
Final State ◽  
Minimum Jerk

Dynamic Models for Control System Design of Integrated Robot and Drive Systems

1985 ◽  
Vol 107 (1) ◽  
pp. 53-59 ◽  
Author(s):  
M. C. Good ◽  
L. M. Sweet ◽  
K. L. Strobel
Keyword(s):  
Experimental Data ◽  
Control System ◽  
System Design ◽  
High Performance ◽  
Dynamic Models ◽  
Industrial Robots ◽  
Analytical Models ◽  
Control System Design ◽  
Robot Arm ◽  
Drive Systems

The design of high performance motion controls for industrial robots is based on accurate models for the robot arm and drive systems. This paper presents analytical models and experimental data to show that interactions between electromechanical drives coupled with compliant linkages to arm link drive points are of fundamental importance to robot control system design. Flexibility in harmonic drives produces resonances in the 5 Hz to 8 Hz range. Flexibility in the robot linkages and joints connecting essentially rigid arm members produces higher frequency modes at 14 Hz and 40 Hz. The nonlinear characteristics of the drive system are modeled, and compared to experimental data. The models presented have been validated over the frequency range 0 to 50 Hz. The paper concludes with a brief discussion of the influence of model characteristics on motion control design.

FPGA-Based High-Performance Digital Control System for Multicoordinate Machine Tools and Industrial Robots

2020 ◽  
Vol 40 (1) ◽  
pp. 58-60
Author(s):  
A. A. Zelenskii ◽  
T. Kh. Abdullin ◽  
Yu. V. Ilyukhin ◽  
M. A. Khar’kov
Keyword(s):  
Control System ◽  
Digital Control ◽  
Machine Tools ◽  
High Performance ◽  
Industrial Robots ◽  
Digital Control System

Nanoscale Servo Control for Galvano Scanner Using Final-State Control

2009 ◽  
Vol 129 (9) ◽  
pp. 938-944 ◽  
Author(s):  
Mitsuo Hirata ◽  
Takahiro Kidokoro ◽  
Shinji Ueda
Keyword(s):  
Servo Control ◽  
State Control ◽  
Final State

Organization of the control system for realization of the National project «Health care» by Roszdravnadzor

2019 ◽  
Vol 2019 (4) ◽  
pp. 5-12 ◽  
Author(s):  
Михаил Мурашко ◽  
Mihail Murashko ◽  
Ирина Серегина ◽  
Irina Seregina
Keyword(s):  
Health Care ◽  
Control System ◽  
Russian Federation ◽  
State Control ◽  
Risk Of Falling ◽  
National Project ◽  
Department Of State ◽  
The Russian Federation ◽  
Control And Monitoring System ◽  
Regional Projects

The article presents main properties of the federal projects of the National project «Health care», as well as the main activities of those projects, in which Roszdravnadzor has a particular interest. The article depicts the control and monitoring system applied by the Department of state control of implementation of state healthcare programs of Rosdravnadzor, which allows to detect in real time the subjects of the Russian Federation that have the highest risk of falling short of the targeted indicator of the regional projects and to take this information into account during the development of the plan for the control and surveillance activities.

Improving Efficiency in Robot Assisted Belt Grinding of High Performance Materials

2014 ◽  
Vol 907 ◽  
pp. 139-149 ◽  
Author(s):  
Eckart Uhlmann ◽  
Florian Heitmüller
Keyword(s):  
Gas Turbines ◽  
High Performance ◽  
Scale Effects ◽  
Turbine Blades ◽  
Repair Process ◽  
Industrial Robots ◽  
Robot Assisted ◽  
Belt Grinding ◽  
Economy Of Scale ◽  
The Individual

In gas turbines and turbo jet engines, high performance materials such as nickel-based alloys are widely used for blades and vanes. In the case of repair, finishing of complex turbine blades made of high performance materials is carried out predominantly manually. The repair process is therefore quite time consuming. And the costs of presently available repair strategies, especially for integrated parts, are high, due to the individual process planning and great amount of manually performed work steps. Moreover, there are severe risks of partial damage during manually conducted repair. All that leads to the fact that economy of scale effects remain widely unused for repair tasks, although the piece number of components to be repaired is increasing significantly. In the future, a persistent automation of the repair process chain should be achieved by developing adaptive robot assisted finishing strategies. The goal of this research is to use the automation potential for repair tasks by developing a technology that enables industrial robots to re-contour turbine blades via force controlled belt grinding.

A Polishing Robot Force Control System Based on Time Series Data in Industrial Internet of Things

2021 ◽  
Vol 21 (2) ◽  
pp. 1-22
Author(s):  
Chen Zhang ◽  
Zhuo Tang ◽  
Kenli Li ◽  
Jianzhong Yang ◽  
Li Yang
Keyword(s):  
Time Series ◽  
Control System ◽  
Force Control ◽  
Time Series Data ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Series Data ◽  
Industrial Internet Of Things ◽  
Industrial Internet ◽  
Force Control System

Installing a six-dimensional force/torque sensor on an industrial arm for force feedback is a common robotic force control strategy. However, because of the high price of force/torque sensors and the closedness of an industrial robot control system, this method is not convenient for industrial mass production applications. Various types of data generated by industrial robots during the polishing process can be saved, transmitted, and applied, benefiting from the growth of the industrial internet of things (IIoT). Therefore, we propose a constant force control system that combines an industrial robot control system and industrial robot offline programming software for a polishing robot based on IIoT time series data. The system mainly consists of four parts, which can achieve constant force polishing of industrial robots in mass production. (1) Data collection module. Install a six-dimensional force/torque sensor at a manipulator and collect the robot data (current series data, etc.) and sensor data (force/torque series data). (2) Data analysis module. Establish a relationship model based on variant long short-term memory which we propose between current time series data of the polishing manipulator and data of the force sensor. (3) Data prediction module. A large number of sensorless polishing robots of the same type can utilize that model to predict force time series. (4) Trajectory optimization module. The polishing trajectories can be adjusted according to the prediction sequences. The experiments verified that the relational model we proposed has an accurate prediction, small error, and a manipulator taking advantage of this method has a better polishing effect.

Analysis of vibration response and machining quality of hybrid robot based UD-CFRP trimming

2021 ◽  
pp. 095440542098609
Author(s):  
Yan Zhang ◽  
Hao Li ◽  
Xuda Qin ◽  
Jie liu ◽  
Zhuojie Hou
Keyword(s):  
High Performance ◽  
Vibration Response ◽  
Industrial Robots ◽  
Force Characteristic ◽  
Surface Waviness ◽  
Machined Surface ◽  
Machining Quality ◽  
3D Surface Roughness ◽  
Machined Surface Quality ◽  
Vibration Responses

To fulfill the demands of higher precision, better quality, and more flexibility, the usage of high-performance industrial robots is rapidly increased in aerospace industry. Considering the anisotropic and inhomogeneous characteristics of composite materials, this study focuses mainly on dynamic response investigation of a newly designed hybrid robot (named as TriMule) in CFRP trimming process and its influence on the machined quality. First, combined with the cutting force characteristic, the vibration responses of tool center point (TCP) under the dynamic excitation were obtained. The influences of robotic TCP vibration on machined surface quality with different fiber orientations, including surface waviness, cavity, 3D surface roughness, and depth of affected zone, are first studied by comparing hybrid robot and machine tool. From experiment results, it can be concluded the proposed TCP vibration response model has sufficient prediction accuracy. Meanwhile, it is found that larger robotic vibration response is accompanied by higher surface waviness, bigger surface cavity, and greater affected zone. Results also showed that the fiber orientation and milling style are two essential factors that affect robot vibration and machining quality during CFRP trimming.

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