Details
| Original language | English |
|---|---|
| Title of host publication | 2016 IEEE International Conference on Automation Science and Engineering, CASE 2016 |
| Publisher | IEEE Computer Society |
| Pages | 328-334 |
| Number of pages | 7 |
| ISBN (electronic) | 9781509024094 |
| Publication status | Published - 14 Nov 2016 |
| Event | 2016 IEEE International Conference on Automation Science and Engineering, CASE 2016 - Fort Worth, United States Duration: 21 Aug 2016 → 24 Aug 2016 |
Publication series
| Name | IEEE International Conference on Automation Science and Engineering |
|---|---|
| Volume | 2016-November |
| ISSN (Print) | 2161-8070 |
| ISSN (electronic) | 2161-8089 |
Abstract
This paper presents a universal method to reduce vibration and contouring errors of complex, nonlinear robotic systems during dynamic motions. The proposed method is based on differential flatness and is valid for serial and parallel robots. System-specific trajectories for motor position, velocity, and torque are generated online with minimized computational effort. Hereby, compliance and friction of the drive trains as well as automatically generated dynamics models are considered. Furthermore, a discrete approach is given to consider damping. The generated motion commands significantly relief the feedback control loop and, therewith, improve the overall system's motion behavior. To ensure time optimality, the trajectories are based on trapezoidal motion profiles, exploiting given constraints for velocity, acceleration, and jerk. The performance of the method as well as its sensitivity with respect to the quality of model parameters is studied and verified using an exemplary 3RRR parallel manipulator. It is shown, that the proposed method is able to outperform conventional computed torque control.
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Engineering(all)
- Electrical and Electronic Engineering
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2016 IEEE International Conference on Automation Science and Engineering, CASE 2016. IEEE Computer Society, 2016. p. 328-334 7743424 (IEEE International Conference on Automation Science and Engineering; Vol. 2016-November).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Efficient computation of system-specific motion commands for serial and parallel robots based on differential flatness
AU - Oltjen, Julian
AU - Beckmann, Daniel
AU - Kotlarski, Jens
AU - Ortmaier, Tobias
PY - 2016/11/14
Y1 - 2016/11/14
N2 - This paper presents a universal method to reduce vibration and contouring errors of complex, nonlinear robotic systems during dynamic motions. The proposed method is based on differential flatness and is valid for serial and parallel robots. System-specific trajectories for motor position, velocity, and torque are generated online with minimized computational effort. Hereby, compliance and friction of the drive trains as well as automatically generated dynamics models are considered. Furthermore, a discrete approach is given to consider damping. The generated motion commands significantly relief the feedback control loop and, therewith, improve the overall system's motion behavior. To ensure time optimality, the trajectories are based on trapezoidal motion profiles, exploiting given constraints for velocity, acceleration, and jerk. The performance of the method as well as its sensitivity with respect to the quality of model parameters is studied and verified using an exemplary 3RRR parallel manipulator. It is shown, that the proposed method is able to outperform conventional computed torque control.
AB - This paper presents a universal method to reduce vibration and contouring errors of complex, nonlinear robotic systems during dynamic motions. The proposed method is based on differential flatness and is valid for serial and parallel robots. System-specific trajectories for motor position, velocity, and torque are generated online with minimized computational effort. Hereby, compliance and friction of the drive trains as well as automatically generated dynamics models are considered. Furthermore, a discrete approach is given to consider damping. The generated motion commands significantly relief the feedback control loop and, therewith, improve the overall system's motion behavior. To ensure time optimality, the trajectories are based on trapezoidal motion profiles, exploiting given constraints for velocity, acceleration, and jerk. The performance of the method as well as its sensitivity with respect to the quality of model parameters is studied and verified using an exemplary 3RRR parallel manipulator. It is shown, that the proposed method is able to outperform conventional computed torque control.
UR - http://www.scopus.com/inward/record.url?scp=85001132467&partnerID=8YFLogxK
U2 - 10.1109/coase.2016.7743424
DO - 10.1109/coase.2016.7743424
M3 - Conference contribution
AN - SCOPUS:85001132467
T3 - IEEE International Conference on Automation Science and Engineering
SP - 328
EP - 334
BT - 2016 IEEE International Conference on Automation Science and Engineering, CASE 2016
PB - IEEE Computer Society
T2 - 2016 IEEE International Conference on Automation Science and Engineering, CASE 2016
Y2 - 21 August 2016 through 24 August 2016
ER -