Optimization of a P/PI Cascade Motion Controller for a 3-DOF Delta Robot

Research output: Chapter in book/report/conference proceeding › Contribution to book/anthology › Research › peer review

Authors

  • Ahmed Zidan
  • Daniel Kaczor
  • Svenja Tappe
  • Tobias Ortmaier

Research Organisations

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Details

Original languageUndefined/Unknown
Title of host publicationTagungsband des 4. Kongresses Montage Handhabung Industrieroboter
EditorsThorsten Schüppstuhl, Kirsten Tracht, Jürgen Roßmann
Place of PublicationBerlin
Pages217-226
Number of pages10
Edition1.
ISBN (electronic)978-3-662-59317-2
Publication statusPublished - 3 May 2019
Event4. Kongress Montage Handhabung Industrieroboter 2019 - Dortmund, Germany
Duration: 26 Feb 2019 → 27 Feb 2019

Abstract

An auto-tuning method for a Delta robot’s P/PI cascade motion controller using multi-objective optimization algorithm is proposed. The implemented control structure consists of two controllers: A feedforward controller based on a model of the inverse dynamics of the robot, and a cascade P/PI controller to compensate for unmodeled effects. The auto-tuning is achieved in the sense of optimizing the control parameters in three stages. In the first stage, the feedback control parameters are optimized after neglecting the feedforward control term. The goal is to minimize the position error in tracking an excitation trajectory, which is used as well to identify the dynamic model parameters in the second stage. After that, the feedforward compensation term is computed offline based on the desired trajectory. In the final stage, the P/PI parameters are optimized again after adding the feedforward controller. Experimental results on an industrial 3-dof Delta robot validates the efficiency of the proposed method.

Cite this

Optimization of a P/PI Cascade Motion Controller for a 3-DOF Delta Robot. / Zidan, Ahmed; Kaczor, Daniel; Tappe, Svenja et al.
Tagungsband des 4. Kongresses Montage Handhabung Industrieroboter. ed. / Thorsten Schüppstuhl; Kirsten Tracht; Jürgen Roßmann. 1. ed. Berlin, 2019. p. 217-226.

Research output: Chapter in book/report/conference proceeding › Contribution to book/anthology › Research › peer review

Zidan, A, Kaczor, D, Tappe, S & Ortmaier, T 2019, Optimization of a P/PI Cascade Motion Controller for a 3-DOF Delta Robot. in T Schüppstuhl, K Tracht & J Roßmann (eds), Tagungsband des 4. Kongresses Montage Handhabung Industrieroboter. 1. edn, Berlin, pp. 217-226, 4. Kongress Montage Handhabung Industrieroboter 2019, Germany, 26 Feb 2019. https://doi.org/10.1007/978-3-662-59317-2_22
Zidan, A., Kaczor, D., Tappe, S., & Ortmaier, T. (2019). Optimization of a P/PI Cascade Motion Controller for a 3-DOF Delta Robot. In T. Schüppstuhl, K. Tracht, & J. Roßmann (Eds.), Tagungsband des 4. Kongresses Montage Handhabung Industrieroboter (1. ed., pp. 217-226). https://doi.org/10.1007/978-3-662-59317-2_22
Zidan A, Kaczor D, Tappe S, Ortmaier T. Optimization of a P/PI Cascade Motion Controller for a 3-DOF Delta Robot. In Schüppstuhl T, Tracht K, Roßmann J, editors, Tagungsband des 4. Kongresses Montage Handhabung Industrieroboter. 1. ed. Berlin. 2019. p. 217-226 doi: 10.1007/978-3-662-59317-2_22
Zidan, Ahmed ; Kaczor, Daniel ; Tappe, Svenja et al. / Optimization of a P/PI Cascade Motion Controller for a 3-DOF Delta Robot. Tagungsband des 4. Kongresses Montage Handhabung Industrieroboter. editor / Thorsten Schüppstuhl ; Kirsten Tracht ; Jürgen Roßmann. 1. ed. Berlin, 2019. pp. 217-226
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