Pub Date : 2021-03-07DOI: 10.1109/ICM46511.2021.9385620
M. Ruderman, Stefan Kaltenbacher, M. Horn
In hydraulic circuits of the standard fluid-power actuators and mechanisms, like the linear-stroke cylinders, some hydrodynamic effects are often neglected. It happens mainly due to their complexity and secondariness in comparison with the principal transient and steady-state behavior of the hydromechanical process variables, such as the differential pressure and relative displacement and its rate, in other words the piston stroke and velocity. However, a constrained motion of the cylinder piston can give rise to the back coupled excitation of the pressure-flow dynamics, especially upon mechanical impact at the cylinder limits. Following to that, semi-stable limit cycles can arise while the hydraulic cylinder remains under pressure without apparent displacement. This paper analyzes such back-coupled pressure-flow dynamics, derived from the partial differential momentum equation with involvement of Darcy-Weisbach hydraulic damping and continuity equation, out from which the closed-form system dynamics is formulated. In both, simulations and laboratory experiments, it is shown that if a constrained motion applies, the solution diverges from steady-state and can develop to the behavior similar to a semi-stable limit cycle.
{"title":"Pressure-flow dynamics with semi-stable limit cycles in hydraulic cylinder circuits","authors":"M. Ruderman, Stefan Kaltenbacher, M. Horn","doi":"10.1109/ICM46511.2021.9385620","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385620","url":null,"abstract":"In hydraulic circuits of the standard fluid-power actuators and mechanisms, like the linear-stroke cylinders, some hydrodynamic effects are often neglected. It happens mainly due to their complexity and secondariness in comparison with the principal transient and steady-state behavior of the hydromechanical process variables, such as the differential pressure and relative displacement and its rate, in other words the piston stroke and velocity. However, a constrained motion of the cylinder piston can give rise to the back coupled excitation of the pressure-flow dynamics, especially upon mechanical impact at the cylinder limits. Following to that, semi-stable limit cycles can arise while the hydraulic cylinder remains under pressure without apparent displacement. This paper analyzes such back-coupled pressure-flow dynamics, derived from the partial differential momentum equation with involvement of Darcy-Weisbach hydraulic damping and continuity equation, out from which the closed-form system dynamics is formulated. In both, simulations and laboratory experiments, it is shown that if a constrained motion applies, the solution diverges from steady-state and can develop to the behavior similar to a semi-stable limit cycle.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132260431","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-03-07DOI: 10.1109/ICM46511.2021.9385679
J. Asama, J. Watanabe, Tai Tek Kee
This study presents a novel slotless permanent magnet (PM) motor with two-layer toroidal winding to minimize the torque ripple, which can be applied to, for instance, servo-motor system with precise positioning control. Two-layer toroidal winding arrangement with 18 segments is employed to drive two-pole surface-mounted PM rotor. The optimal ratio of the number of winding conductors is theoretically derived to eliminate 5th, 7th, 11th, and 13th spatial harmonic components in the stator magneto-motive force distribution. The motor torque was calculated by finite-element-method, and the calculation results demonstrated that the proposed two-layer toroidal winding arrangement had a reduced torque ripple of 0.12 %. The prototype motor was built and tested. The measured back-electro-motive-force has 0.9 % total harmonic distortion.
{"title":"Development of a Slotless Permanent Magnet Motor with Two-Layer Toroidal Winding for Minimization of Torque Ripple","authors":"J. Asama, J. Watanabe, Tai Tek Kee","doi":"10.1109/ICM46511.2021.9385679","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385679","url":null,"abstract":"This study presents a novel slotless permanent magnet (PM) motor with two-layer toroidal winding to minimize the torque ripple, which can be applied to, for instance, servo-motor system with precise positioning control. Two-layer toroidal winding arrangement with 18 segments is employed to drive two-pole surface-mounted PM rotor. The optimal ratio of the number of winding conductors is theoretically derived to eliminate 5th, 7th, 11th, and 13th spatial harmonic components in the stator magneto-motive force distribution. The motor torque was calculated by finite-element-method, and the calculation results demonstrated that the proposed two-layer toroidal winding arrangement had a reduced torque ripple of 0.12 %. The prototype motor was built and tested. The measured back-electro-motive-force has 0.9 % total harmonic distortion.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133109440","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-03-07DOI: 10.1109/ICM46511.2021.9385658
Yingqiang Liu, Xingyi Liu, Bobo Helian, Zheng Chen, B. Yao
The linear motor driven system has been widely used in the manufacturing industry, where high motion tracking accuracy is required, including fast dynamic response and high steady-state tracking accuracy. However, the improvement of the motion control performances is limited by parametric uncertainties and uncertain nonlinearities, such as nonlinear friction, varying load mass, etc. In addition, the system constraints owing to input saturation and speed/space limitations also challenge the improvement of the motion control performances. In this paper, a hybrid reference governor-based adaptive robust control (HRGARC) algorithm is proposed for the constrained motion control of the linear motor driven system. The proposed approach is composed of two reference governor (RG)-based adaptive robust controllers (RGARC) and a switching strategy. For each RGARC, the RG is utilized to deal with input/state constraints, and the adaptive robust control (ARC) algorithm is used to cope with parametric uncertainties and uncertain nonlinearities. These two RGARCs are specifically designed to achieve fast dynamic response and high steady-state tracking accuracy, respectively. Furthermore, a switching strategy is designed to coordinate these two RGARCs according to the system states and the input reference. Therefore, the high transient and steady-state motion control performances of the linear motor driven system can be achieved by the proposed HRGARC in the presence of parametric uncertainties, uncertain nonlinearities, and input/state constraints. Comparative experiments conducted on the linear motor driven system validate the effectiveness of the proposed HRGARC algorithm.
{"title":"Hybrid Reference Governor-Based Adaptive Robust Control of a Linear Motor Driven System","authors":"Yingqiang Liu, Xingyi Liu, Bobo Helian, Zheng Chen, B. Yao","doi":"10.1109/ICM46511.2021.9385658","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385658","url":null,"abstract":"The linear motor driven system has been widely used in the manufacturing industry, where high motion tracking accuracy is required, including fast dynamic response and high steady-state tracking accuracy. However, the improvement of the motion control performances is limited by parametric uncertainties and uncertain nonlinearities, such as nonlinear friction, varying load mass, etc. In addition, the system constraints owing to input saturation and speed/space limitations also challenge the improvement of the motion control performances. In this paper, a hybrid reference governor-based adaptive robust control (HRGARC) algorithm is proposed for the constrained motion control of the linear motor driven system. The proposed approach is composed of two reference governor (RG)-based adaptive robust controllers (RGARC) and a switching strategy. For each RGARC, the RG is utilized to deal with input/state constraints, and the adaptive robust control (ARC) algorithm is used to cope with parametric uncertainties and uncertain nonlinearities. These two RGARCs are specifically designed to achieve fast dynamic response and high steady-state tracking accuracy, respectively. Furthermore, a switching strategy is designed to coordinate these two RGARCs according to the system states and the input reference. Therefore, the high transient and steady-state motion control performances of the linear motor driven system can be achieved by the proposed HRGARC in the presence of parametric uncertainties, uncertain nonlinearities, and input/state constraints. Comparative experiments conducted on the linear motor driven system validate the effectiveness of the proposed HRGARC algorithm.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"781 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133219973","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-03-07DOI: 10.1109/ICM46511.2021.9385682
Michael Schneider, R. Amann, C. Mitsantisuk
The classification of waste with neural networks is already a topic in some scientific papers. An application in the embedded systems area with current AI processors to accelerate the inference has not yet been discussed. Therefore a prototype is created which classifies waste objects and automatically opens the appropriate container for the object. The area of application is in the public space. For the classification a dataset with 25.681 images and 11 classes was created to retrain the CNNs EfficentNet-B0, MobileNet-v2 and NASNet-Mobile. These CNNs run on the current Edge AI -accelerator processors from Google, Intel and Nvidia and are compared for performance, consumption and accuracy. The result of these comparisons and shows the advantages and disadvantages of the respective processors and the CNNs. For the prototype, the most suitable combination of hardware and AI architecture is used and exhibited at the university fair KasetFair2020.
{"title":"Waste object classification with AI on the edge accelerators","authors":"Michael Schneider, R. Amann, C. Mitsantisuk","doi":"10.1109/ICM46511.2021.9385682","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385682","url":null,"abstract":"The classification of waste with neural networks is already a topic in some scientific papers. An application in the embedded systems area with current AI processors to accelerate the inference has not yet been discussed. Therefore a prototype is created which classifies waste objects and automatically opens the appropriate container for the object. The area of application is in the public space. For the classification a dataset with 25.681 images and 11 classes was created to retrain the CNNs EfficentNet-B0, MobileNet-v2 and NASNet-Mobile. These CNNs run on the current Edge AI -accelerator processors from Google, Intel and Nvidia and are compared for performance, consumption and accuracy. The result of these comparisons and shows the advantages and disadvantages of the respective processors and the CNNs. For the prototype, the most suitable combination of hardware and AI architecture is used and exhibited at the university fair KasetFair2020.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133289419","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-03-07DOI: 10.1109/ICM46511.2021.9385628
Kangwagye Samuel, D. Cheon, Sehoon Oh
Disturbances are one of the major challenges that should be dealt with when designing high performance force control systems for robots that interact with unknown environments. To achieve high performance dynamic interaction, this paper presents a robust force control system that implements a force disturbance observer (FDOB). Dynamic compliance with the environment is greatly improved with this control technique. The whole force control structure consists of a servo system with a force sensor, the proposed FDOB, feedforward and feedback controllers, and the low-pass filter for attenuating measurement noises of the force sensor feedback signal. The nominal model of the proposed FDOB is obtained by nonparametric system identification method. The FDOB then estimates disturbances by utilizing the motor torque and force sensor measurement signals as its inputs. Theoretical analyses of the FDOB and the overall force control system are conducted. To validate the proposed control structure, experiments are conducted while considering various scenarios from where it is found out that it shows superior performance over the conventional force control method.
{"title":"Force Disturbance Observer-based Force Control for Compliant Interaction with Dynamic Environment","authors":"Kangwagye Samuel, D. Cheon, Sehoon Oh","doi":"10.1109/ICM46511.2021.9385628","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385628","url":null,"abstract":"Disturbances are one of the major challenges that should be dealt with when designing high performance force control systems for robots that interact with unknown environments. To achieve high performance dynamic interaction, this paper presents a robust force control system that implements a force disturbance observer (FDOB). Dynamic compliance with the environment is greatly improved with this control technique. The whole force control structure consists of a servo system with a force sensor, the proposed FDOB, feedforward and feedback controllers, and the low-pass filter for attenuating measurement noises of the force sensor feedback signal. The nominal model of the proposed FDOB is obtained by nonparametric system identification method. The FDOB then estimates disturbances by utilizing the motor torque and force sensor measurement signals as its inputs. Theoretical analyses of the FDOB and the overall force control system are conducted. To validate the proposed control structure, experiments are conducted while considering various scenarios from where it is found out that it shows superior performance over the conventional force control method.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"144 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131748017","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-03-07DOI: 10.1109/ICM46511.2021.9385681
Masatsugu Nishihara, F. Asano
To achieve steady locomotion with simple control for a locomotion robot on a slippery surface, the authors have been developing a crawling-like locomotion robot positively utilizing sliding. The previous researches were clarified that motion of the center of mass mightily induces sliding motion; whereas, they does not elucidate a principle of sliding motion generation on slippery ground. Aiming at designing effective acceleration control to efficiently slide on a slippery level ground based on a locomotion principle, we investigate relation between acceleration of the center of mass and friction in this paper. First, we introduce a simple robot model with two orthogonal telescopic joints. Second, we derive the equation of motion. Third, we design the acceleration control for the center of mass. Fourth, we show numerical simulation. The robot steadily locomotes on the slippery ground with simple control. In addition, our model allowed us to choose appropriate spring parameters which improve the specific resistance of the robot to 0.2039 [-].
{"title":"Design of Acceleration Control for Center of Mass on Sliding Robot","authors":"Masatsugu Nishihara, F. Asano","doi":"10.1109/ICM46511.2021.9385681","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385681","url":null,"abstract":"To achieve steady locomotion with simple control for a locomotion robot on a slippery surface, the authors have been developing a crawling-like locomotion robot positively utilizing sliding. The previous researches were clarified that motion of the center of mass mightily induces sliding motion; whereas, they does not elucidate a principle of sliding motion generation on slippery ground. Aiming at designing effective acceleration control to efficiently slide on a slippery level ground based on a locomotion principle, we investigate relation between acceleration of the center of mass and friction in this paper. First, we introduce a simple robot model with two orthogonal telescopic joints. Second, we derive the equation of motion. Third, we design the acceleration control for the center of mass. Fourth, we show numerical simulation. The robot steadily locomotes on the slippery ground with simple control. In addition, our model allowed us to choose appropriate spring parameters which improve the specific resistance of the robot to 0.2039 [-].","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126954674","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-03-07DOI: 10.1109/ICM46511.2021.9385645
Xingyi Liu, Yingqiang Liu, Fuxin Duan, Zheng Chen, B. Yao
Maintaining high precision tracking while considering both state and input constraints has always been a challenging issue, where most existing studies merely solve constrained issues and few take integrated performance into account. Thus, we put forwarded a direct optimization-based compensation adaptive robust control (DOCARC) approach for single input single output(SISO) nonlinear system, where the model compensation term of the control input is directly optimized and the reference is simultaneously replanned so as to conform to the constraints. Simulations are conducted in the single-axis linear motor system, and comparative results further verify the superiority and effectiveness of the proposed scheme.
{"title":"Precision Motion Control of Constrained SISO Nonlinear System via Direct Optimized Compensation","authors":"Xingyi Liu, Yingqiang Liu, Fuxin Duan, Zheng Chen, B. Yao","doi":"10.1109/ICM46511.2021.9385645","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385645","url":null,"abstract":"Maintaining high precision tracking while considering both state and input constraints has always been a challenging issue, where most existing studies merely solve constrained issues and few take integrated performance into account. Thus, we put forwarded a direct optimization-based compensation adaptive robust control (DOCARC) approach for single input single output(SISO) nonlinear system, where the model compensation term of the control input is directly optimized and the reference is simultaneously replanned so as to conform to the constraints. Simulations are conducted in the single-axis linear motor system, and comparative results further verify the superiority and effectiveness of the proposed scheme.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121952240","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-03-07DOI: 10.1109/ICM46511.2021.9385637
Kazuya Ito, Ryosuke Suzuki, K. Yoshimoto, T. Yokoyama
This paper proposes MSDB (Multi Sampling Deadbeat control) of PMSM (Permanent Magnet Synchronous Motor) drive system for EVs (Electric Vehicles) and HEVs (Hybrid Electric Vehicles) using a FPGA (Field Programmable Gate Array) to use potential performance of motor control response. The electric motor drive system used in EVs and HEVs gives not only efficient powertrain, but also quick and smooth response as an advantage compared with ICE (Internal Combustion Engine). The proposed deadbeat control using a FPGA could show good response and robustness, especially for electric motor drive system using low carrier frequency of PWM (Pulse Width Modulation) inverter like as EVs and HEVs.
{"title":"A Study of Multisampling Deadbeat Control for Low Carrier Frequency PMSM Drive System Used in EVs and HEVs","authors":"Kazuya Ito, Ryosuke Suzuki, K. Yoshimoto, T. Yokoyama","doi":"10.1109/ICM46511.2021.9385637","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385637","url":null,"abstract":"This paper proposes MSDB (Multi Sampling Deadbeat control) of PMSM (Permanent Magnet Synchronous Motor) drive system for EVs (Electric Vehicles) and HEVs (Hybrid Electric Vehicles) using a FPGA (Field Programmable Gate Array) to use potential performance of motor control response. The electric motor drive system used in EVs and HEVs gives not only efficient powertrain, but also quick and smooth response as an advantage compared with ICE (Internal Combustion Engine). The proposed deadbeat control using a FPGA could show good response and robustness, especially for electric motor drive system using low carrier frequency of PWM (Pulse Width Modulation) inverter like as EVs and HEVs.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124954553","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-03-07DOI: 10.1109/ICM46511.2021.9385695
Jing Li, Yonghua Xiong, Jinhua She
As exploiting unmanned aerial vehicles (UAVs) as mobile elements is a new research trend recently, approximation algorithms to solve path planning problems for UAVs are promising approaches. This paper present a solution for the problem of minimum mission time to cover a set of target points in the surveillance area with multiple UAVs. In this methodology, we propose an improved ant colony optimization (ACO) combining ACO with greedy strategy. The main purpose is to find the optimal number of UAVs and to plan the paths of the minimum mission time. Simulation results demonstrate the validity and the superiority of the proposed algorithm.
{"title":"An improved ant colony optimization for path planning with multiple UAVs","authors":"Jing Li, Yonghua Xiong, Jinhua She","doi":"10.1109/ICM46511.2021.9385695","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385695","url":null,"abstract":"As exploiting unmanned aerial vehicles (UAVs) as mobile elements is a new research trend recently, approximation algorithms to solve path planning problems for UAVs are promising approaches. This paper present a solution for the problem of minimum mission time to cover a set of target points in the surveillance area with multiple UAVs. In this methodology, we propose an improved ant colony optimization (ACO) combining ACO with greedy strategy. The main purpose is to find the optimal number of UAVs and to plan the paths of the minimum mission time. Simulation results demonstrate the validity and the superiority of the proposed algorithm.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133001053","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-03-07DOI: 10.1109/ICM46511.2021.9385627
Patrick Mesmer, Michael Neubauer, A. Lechler, A. Verl
Most industrial robots are still controlled with motor-side feedback. To increase the accuracy of industrial robots, controllers with joint-side feedback and explicit consideration of the joint elasticity, such as linearization-based controllers, are needed. The key issue for the performance of linearization-based controllers is a high-fidelity model. Today, the drivetrains installed in the joints of industrial robots of the high payload class usually consist of a permanent magnet synchronous machine and a cycloidal drive. Such robot joints are highly nonlinear due to effects like hysteresis, torque ripples and friction. Therefore, the drivetrain dynamics are crucial for the experimental performance of linearization-based controllers for industrial robots. This paper identifies the challenges in linearization-based control of industrial robots with such a drivetrain configuration based on experimental results on a KUKA KR-210-2. Using an exemplary approach, it is shown that a linearization-based controller does not provide the theoretical performance due to needed model simplifications. For this purpose, simulation and experimental results are compared to a linear robot controller with motor-side feedback. These results indicate why such controllers are still a valid alternative for the practical application of similar industrial robots.
{"title":"Challenges of Linearization-based Control of Industrial Robots with Cycloidal Drives","authors":"Patrick Mesmer, Michael Neubauer, A. Lechler, A. Verl","doi":"10.1109/ICM46511.2021.9385627","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385627","url":null,"abstract":"Most industrial robots are still controlled with motor-side feedback. To increase the accuracy of industrial robots, controllers with joint-side feedback and explicit consideration of the joint elasticity, such as linearization-based controllers, are needed. The key issue for the performance of linearization-based controllers is a high-fidelity model. Today, the drivetrains installed in the joints of industrial robots of the high payload class usually consist of a permanent magnet synchronous machine and a cycloidal drive. Such robot joints are highly nonlinear due to effects like hysteresis, torque ripples and friction. Therefore, the drivetrain dynamics are crucial for the experimental performance of linearization-based controllers for industrial robots. This paper identifies the challenges in linearization-based control of industrial robots with such a drivetrain configuration based on experimental results on a KUKA KR-210-2. Using an exemplary approach, it is shown that a linearization-based controller does not provide the theoretical performance due to needed model simplifications. For this purpose, simulation and experimental results are compared to a linear robot controller with motor-side feedback. These results indicate why such controllers are still a valid alternative for the practical application of similar industrial robots.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133380392","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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