Title :
Command shaping control for material handling
Author :
Dickerson, Steve
Author_Institution :
Georgia Tech, Atlanta, GA, USA
Abstract :
An application to an XYZ gantry machine is described. The machine is a case packer that transfers packed and wrapped meat products to shipping boxes at the nominal rate of 1 per second. System compliance is a significant problem. The machine structure itself deflects considerably because of the need for speed in a low cost machine. Command shaping allows a near doubling of machine speed.
Keywords :
FIR filters; feedforward; industrial manipulators; materials handling; three-term control; XYZ gantry machine; command shaping control; material handling; meat products; shipping boxes; system compliance; Control systems; Feedforward systems; Materials handling; Micromotors; Motion control; Packaging machines; Shape control; Torque control; Universal Serial Bus; Velocity control;
Conference_Titel :
American Control Conference, 2002. Proceedings of the 2002
Print_ISBN :
0-7803-7298-0
DOI :
10.1109/ACC.2002.1023815
