Details
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 823-829 |
| Number of pages | 7 |
| ISBN (electronic) | 9781467373173 |
| Publication status | Published - 20 Nov 2015 |
| Event | 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015 - Auckland, New Zealand Duration: 15 Jun 2015 → 17 Jun 2015 |
Abstract
This paper addresses the efficient and user-friendly application of input shaping to a nonlinear parallel mechanism, i.e. the delta robot. The objective is the reduction of residual end effector oscillations at the end of a point-to-point (PTP) movement, without a need for profound user experience. Hence, a detailed identification of system characteristics and computationally intensive model equations are avoided. Instead, configuration dependent oscillation characteristics are followed by an adaptive look-up table. The data acquisition is based on existing standard sensors, in order to avoid additional hardware investments. Uncertain natural frequencies and nonlinear oscillations are handled by the selection of a robust input shaper design with adjustable insensitivity. The performance of the method is proven by experimental validation on a delta robot, that is operated by a standard industrial PLC motion control system. The experiments show an extensive decrease of residual oscillations and, hence, reduced decay times at the end of a commanded motion. Due to the system specific motion profiles, basic motion constraints as acceleration and jerk can be significantly increased for a further reduction of motion time.
ASJC Scopus subject areas
- Engineering(all)
- Industrial and Manufacturing Engineering
- Engineering(all)
- Electrical and Electronic Engineering
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Proceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 823-829 7334224.
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Reduction of end effector oscillations of a parallel mechanism with modified motion profiles
AU - Oltjen, Julian
AU - Kotlarski, Jens
AU - Ortmaier, Tobias
PY - 2015/11/20
Y1 - 2015/11/20
N2 - This paper addresses the efficient and user-friendly application of input shaping to a nonlinear parallel mechanism, i.e. the delta robot. The objective is the reduction of residual end effector oscillations at the end of a point-to-point (PTP) movement, without a need for profound user experience. Hence, a detailed identification of system characteristics and computationally intensive model equations are avoided. Instead, configuration dependent oscillation characteristics are followed by an adaptive look-up table. The data acquisition is based on existing standard sensors, in order to avoid additional hardware investments. Uncertain natural frequencies and nonlinear oscillations are handled by the selection of a robust input shaper design with adjustable insensitivity. The performance of the method is proven by experimental validation on a delta robot, that is operated by a standard industrial PLC motion control system. The experiments show an extensive decrease of residual oscillations and, hence, reduced decay times at the end of a commanded motion. Due to the system specific motion profiles, basic motion constraints as acceleration and jerk can be significantly increased for a further reduction of motion time.
AB - This paper addresses the efficient and user-friendly application of input shaping to a nonlinear parallel mechanism, i.e. the delta robot. The objective is the reduction of residual end effector oscillations at the end of a point-to-point (PTP) movement, without a need for profound user experience. Hence, a detailed identification of system characteristics and computationally intensive model equations are avoided. Instead, configuration dependent oscillation characteristics are followed by an adaptive look-up table. The data acquisition is based on existing standard sensors, in order to avoid additional hardware investments. Uncertain natural frequencies and nonlinear oscillations are handled by the selection of a robust input shaper design with adjustable insensitivity. The performance of the method is proven by experimental validation on a delta robot, that is operated by a standard industrial PLC motion control system. The experiments show an extensive decrease of residual oscillations and, hence, reduced decay times at the end of a commanded motion. Due to the system specific motion profiles, basic motion constraints as acceleration and jerk can be significantly increased for a further reduction of motion time.
UR - http://www.scopus.com/inward/record.url?scp=84960885121&partnerID=8YFLogxK
U2 - 10.1109/iciea.2015.7334224
DO - 10.1109/iciea.2015.7334224
M3 - Conference contribution
AN - SCOPUS:84960885121
SP - 823
EP - 829
BT - Proceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015
Y2 - 15 June 2015 through 17 June 2015
ER -