High-speed trajectory control of a direct-drive manipulator

Author

Youcef-Toumi, K. ; Kuo, A.T.Y.

Author_Institution

Dept. of Mech. Eng., MIT, Cambridge, MA, USA

Volume

9

Issue

1

fYear

1993

fDate

2/1/1993 12:00:00 AM

Firstpage

102

Lastpage

108

Abstract

High-speed precision trimming of three-dimensional parts using laser-cutting industrial robots is addressed. A control system for direct-drive manipulators specially designed for high-speed trajectory control applications is developed. The concept of decoupled and invariant dynamics is discussed for a specific manipulator, and a simple procedure for system identification and control system design is presented. It is demonstrated that, through proper arm mechanism design, the control system can be greatly simplified and satisfactory control performance achieved. The arm mechanism design and control system are evaluated through simulations and experiments. Experimental tracking performance achieves a speed of 3 m/s and an acceleration of 3.8 g, with a joint mean tracking error of 0.0556°

Keywords

control system synthesis; cutting; identification; industrial robots; position control; 3 m/s; arm mechanism; control system design; decoupled dynamics; direct-drive manipulator; invariant dynamics; joint mean tracking error; laser-cutting industrial robots; precision trimming; system identification; trajectory control; Acceleration; Control systems; Couplings; Electrical equipment industry; Laser beam cutting; Manipulator dynamics; Orbital robotics; Robot control; Service robots; Trajectory;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.210801

Filename

210801