scholarly journals High-Speed Motion Control of Mechanisms under Average Heat Generation Restriction : Minimum-Time Trajectory Planning of Robotic Manipulator and Calculated Examples of Two Degree-of-Freedom System

1994 ◽  
Vol 37 (2) ◽  
pp. 315-321 ◽  
Author(s):  
Takashi Teramoto ◽  
Kyosuke Ono ◽  
Ozgur Turhan
Keyword(s):  
Motion Control ◽  
Heat Generation ◽  
Trajectory Planning ◽  
High Speed ◽  
Robotic Manipulator ◽  
Degree Of Freedom ◽  
Minimum Time ◽  
Average Heat ◽  
Two Degree Of Freedom

scholarly journals IRSBot-2: A Novel Two-DOF Parallel Robot for High-Speed Operations

2011 ◽  
Author(s):  
Coralie Germain ◽  
Se´bastien Briot ◽  
Victor Glazunov ◽  
Ste´phane Caro ◽  
Philippe Wenger
Keyword(s):  
High Speed ◽  
Parallel Robot ◽  
Degree Of Freedom ◽  
Kinematic Chains ◽  
Robot Architecture ◽  
Intrinsic Stiffness ◽  
Two Degree Of Freedom

This paper presents a novel two-degree-of-freedom (DOF) translational parallel robot for high-speed applications named the IRSBot-2 (acronym for IRCCyN Spatial Robot with 2 DOF). Unlike most two-DOF robots dedicated to planar translational motions, this robot has two spatial kinematic chains which confers a very good intrinsic stiffness. First, the robot architecture is described. Then, its actuation and constraint singularities are analyzed. Finally, the IRSBot-2 is compared to its two-DOF counterparts based on elastostatic performances.

Trajectory Planning for Flatness-based two-degree-of-freedom control of a pumped storage power station

2008 ◽  
Vol 41 (2) ◽  
pp. 11080-11085 ◽  
Author(s):  
M. Treuer ◽  
T. Weissbach ◽  
G. Scheffknecht ◽  
V. Hagenmeyer
Keyword(s):  
Trajectory Planning ◽  
Degree Of Freedom ◽  
Power Station ◽  
Pumped Storage ◽  
Two Degree Of Freedom

Motion control of a two-axis linear motor-driven stage in the micro-milling process

2016 ◽  
Vol 232 (1) ◽  
pp. 65-76
Author(s):  
Mohammad S Heydarzadeh ◽  
Seyed M Rezaei ◽  
Noor A Mardi ◽  
Ali Kamali E
Keyword(s):  
Kalman Filter ◽  
High Speed ◽  
Linear Motor ◽  
Degree Of Freedom ◽  
Micro Milling ◽  
Proportional Integral Derivative ◽  
Direct Drive ◽  
Proportional Integral Derivative Controller ◽  
Proportional Integral ◽  
Two Degree Of Freedom

The application of linear motor-driven stages as the feed drivers of CNC micro milling machine tools is growing. In addition to employ high speed and high precision equipment such as linear motor-driven stages, the precision of the machined contours is highly dependent on the capabilities of the servo controllers. In this paper, the design of a precise controller for a two-axis LMDS has been investigated for micro-milling applications. In such feed drives, disturbances such as friction, force ripples, and machining forces have adverse effects on the workpiece positioning precision due to the direct drive concept behind them. Therefore, in order to have an acceptable transient response and disturbance rejection properties, a two-degree-of-freedom proportional–integral–derivative controller was employed for each axis. To design this controller, the zero-placement method was used. To compensate disturbances and machining contour errors, the utilization of Kalman filter observers, neural networks, cross-coupled controllers, and different integration of them were studied. The controllers were experimentally examined for circular motions. An integrated controller consisted of a Kalman filter disturbance observer, a cross-coupled controller, and a well-designed two-degree-of-freedom proportional–integral–derivative controller resulted in a high contouring and tracking precision. The controller could also reduce the spikes caused by the friction at the motion reversal points such as the quadrants in circle trajectories.

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