Gain-scheduled L/sub 2/-gain based control of a flexible parameter-varying robot link

IECON'01. 27th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.37243) Pub Date : 2001-11-29 DOI:10.1109/IECON.2001.976543

J. Rieber, D.G. Taylor

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引用次数: 7

Abstract

High-precision manufacturing tasks such as circuit-board assembly are often carried out with the use of gantry robots. One possible design allows motion along two axes, namely a beam moving along a frame and a head sliding along the beam. This configuration can be modeled as a linear parameter-varying system where the head position is the time-varying parameter. In this paper, a modified gain-scheduled H/sub /spl infin// control design method with parameter-dependent Lyapunov function is applied for motion control of an industry-grade flexible gantry robot beam with moving head. Availability of online head position measurements and knowledge about head velocity limits are incorporated in the control design process. The overall control objective is minimal settling time regarding beam positioning within a /spl plusmn/10 /spl mu/m range of the desired location. Simulation results show achievable performance for a detailed simulation model, and verify attenuation of beam vibrations and friction disturbances. Special considerations in the control design due to some major difficulties of the problem are presented.

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柔性变参数机器人连杆的增益调度L/sub /增益控制

高精度的制造任务，如电路板组装，经常使用龙门机器人进行。一种可能的设计允许沿两个轴运动，即沿框架移动的横梁和沿横梁滑动的头部。这种结构可以建模为一个线性参数变化系统，其中头部位置是时变参数。本文将一种基于参数相关Lyapunov函数的改进增益调度H/sub /spl / in//控制设计方法应用于带动头的工业级柔性龙门机器人梁的运动控制。在线头部位置测量的可用性和关于头部速度限制的知识被纳入控制设计过程。总体控制目标是在期望位置的a /spl plusmn/10 /spl mu/m范围内最小化波束定位的沉降时间。仿真结果表明，详细的仿真模型具有良好的性能，并验证了梁振动和摩擦干扰的衰减。由于该问题的一些主要困难，在控制设计中提出了特殊的考虑。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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IECON'01. 27th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.37243)

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