Details
| Original language | English |
|---|---|
| Title of host publication | 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 695-702 |
| Number of pages | 8 |
| ISBN (electronic) | 9781509020652 |
| Publication status | Published - 26 Sept 2016 |
| Event | 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 - Banff, Canada Duration: 12 Jul 2016 → 15 Jul 2016 |
Publication series
| Name | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM |
|---|---|
| Volume | 2016-September |
Abstract
This paper presents new comparative results from two advanced feedforward control methods for rapid movements of parallel robots with minimum vibration, in terms of their practical application. First, a flatness-based approach is described, to generate system-specific motion profiles and computed torque for nonlinear, mechanically coupled multi-body systems. Hereby, vibration related system properties as joint elasticity and friction, as well as the complete dynamics model, including centripetal and Coriolis effects, are considered. Besides the model-based trajectory control, an adaptive method for the application of established inputshaping techniques to nonlinear robot systems is proposed. A model of the system's vibration behavior is generated during operation, based on frequency and damping characteristics, derived from internal drive train sensors. The methods are studied by simulations and experiments, exemplary on a planar 3RRR manipulator. The approaches are compared to each other as well as to conventional computed torque, in terms of theoretical performance and path tracing error. Additionally, the robustness w. r. t. the quality of model parameters is studied. Finally, experimental results are presented to verify the theoretical results.
ASJC Scopus subject areas
- Engineering(all)
- Electrical and Electronic Engineering
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- Computer Science Applications
- Computer Science(all)
- Software
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2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 695-702 7576849 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2016-September).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - On the reduction of vibration of parallel robots using flatness-based control and adaptive inputshaping
AU - Oltjen, Julian
AU - Kotlarski, Jens
AU - Ortmaier, Tobias
PY - 2016/9/26
Y1 - 2016/9/26
N2 - This paper presents new comparative results from two advanced feedforward control methods for rapid movements of parallel robots with minimum vibration, in terms of their practical application. First, a flatness-based approach is described, to generate system-specific motion profiles and computed torque for nonlinear, mechanically coupled multi-body systems. Hereby, vibration related system properties as joint elasticity and friction, as well as the complete dynamics model, including centripetal and Coriolis effects, are considered. Besides the model-based trajectory control, an adaptive method for the application of established inputshaping techniques to nonlinear robot systems is proposed. A model of the system's vibration behavior is generated during operation, based on frequency and damping characteristics, derived from internal drive train sensors. The methods are studied by simulations and experiments, exemplary on a planar 3RRR manipulator. The approaches are compared to each other as well as to conventional computed torque, in terms of theoretical performance and path tracing error. Additionally, the robustness w. r. t. the quality of model parameters is studied. Finally, experimental results are presented to verify the theoretical results.
AB - This paper presents new comparative results from two advanced feedforward control methods for rapid movements of parallel robots with minimum vibration, in terms of their practical application. First, a flatness-based approach is described, to generate system-specific motion profiles and computed torque for nonlinear, mechanically coupled multi-body systems. Hereby, vibration related system properties as joint elasticity and friction, as well as the complete dynamics model, including centripetal and Coriolis effects, are considered. Besides the model-based trajectory control, an adaptive method for the application of established inputshaping techniques to nonlinear robot systems is proposed. A model of the system's vibration behavior is generated during operation, based on frequency and damping characteristics, derived from internal drive train sensors. The methods are studied by simulations and experiments, exemplary on a planar 3RRR manipulator. The approaches are compared to each other as well as to conventional computed torque, in terms of theoretical performance and path tracing error. Additionally, the robustness w. r. t. the quality of model parameters is studied. Finally, experimental results are presented to verify the theoretical results.
UR - http://www.scopus.com/inward/record.url?scp=84992365795&partnerID=8YFLogxK
U2 - 10.1109/aim.2016.7576849
DO - 10.1109/aim.2016.7576849
M3 - Conference contribution
AN - SCOPUS:84992365795
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 695
EP - 702
BT - 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
Y2 - 12 July 2016 through 15 July 2016
ER -