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017 High performance applications: Robot motion in complex environments
Abstracts
017 High Performance Applications: Robot Motion in Complex Environments G. Schweitzer, pp 113-118 High-performance motion control is the basis for "intelligent" robot behaviour. It describes its ability to pick up information about its environment, and to process it so as to react according to the situation. The exploitation of "intelligent interaction" with the environment will be a dominant trend in future robotics. In complex environments, interaction with a human operator or user will often be necessary or desirable. Some robotics projects are presented, where "intelligent" motion control of a robot has been realized under environmental constraints: a robot with visual and tactile abilities, a mobile manipulator for rough terrain, a "polite" mobile robot, and a pingpong playing robot.
018 High Performance Control of Robot Manipulator without Using Inverse Dynamics Y. Hori, pp 119-125 Control of a multi-axis robot manipulator has to compensate for various kinds of nonlinear dynamical forces, i.e., centrifugal, Coriolis, gravitational and frictional forces. These interference forces could be compensated for by the well-known computed torque method; however, it requires an exact manipulator model and a huge amount of real-time computation in solving inverse dynamics. Nevertheless this method is quite sensitive to system parameter variation, including payload mass change.
019 Minimum Energy Operation Conditions of Induction Motors Under Torque Regulation. C. Canudas de Wit, S.I. Seleme, pp 127-133 The present work deals with the problem of minimizing the magnetic energy of the induction motor for steadystate operation under torque regulation. Aspects of efficiency improvement of this approach are analysed. Some control possibilities are presented, as well, followed by some simulated examples.
020 Adaptive Control of Stepper Motors Via Nonlinear Extended Matching R. Marino, P. Tomei, pp 135-139 The problem of accurate positioning control of permanent magnet stepper motors with sinusoidal flux distribution is considered. The load torque and the resistance of each stator phase winding are assumed to be unknown. A nonlinear adaptive control scheme is proposed which guarantees global tracking of desired position trajectory and global convergence of the estimated parameters. Simulation results are included.
021 Performances of a Model Reference Adaptive Control of an Industrial Robot E.J.W. Schoenmakers, H.H. van de Ven, pp 141-146 This paper describes the design and realization of Model Reference Adaptive Controller (MRAC) for the first two links of a ASEA IRb6 robot. A time-continuous asymptotic stable adaptive controller has been designed by using hyperstability and positivity concepts. The adaptation algorithm has been discretized for the digital implementation, with certain modifications. The practical implementation shows that, as a result of the physical disturbances due to stiction Coulomb friction, actuator saturation and gravitational loading, the
727 controller has to be modified. Experimental results show good capability tracking the modified MRAC controller. Furthermore, the dynamic interaction between the first two links has been eliminated.
022 Advanced Variable Structure Control of High Performance Drives A. Balestrino, D. Galardinl, A. Landi, pp 147-152 An advanced variable structure control as an electrical drive with sinusoidal brushless motor is proposed. An adaptive model-following control loop (AMFC) is proposed in order to rebuild the back e.m.f, coefficient and to cancel the non-linear term due to the back e.m.£ by means of a feed-forward compensation. The on-line identification of the back e.m.f, coefficient and the application of an optimal phase advance in the voltage improves the efficiency of the brushless motor. A disturbance observer is considered and suitably modified in order to provide a feed-forward compensation counteracting the undesirable disturbance effects.
023 Vibration Control of a Flexible Cartesian Robot: Extension of a Preshaping Input Method E. D'Amato, F. Durante, P. Rissone, pp 153-157 This paper deals with the extension of a preshaping input method to the flexibility control of a Cartesian robot. The method is the original one recently proposed by the authors and already modeled and discussed for a polar robot geometry. Besides the above extension, the method has been numerically simulated to analyze the behaviour of a one link robot under different model parameter conditions. This activity allowed the characterization of the method for what concerns the robustness: the effectiveness of the method under structural damping factors and modal frequency variations. The observed behaviour has been physically interpreted and presented in quantitative terms.
024 Design of AC Drives with Position and Speed Dynamic Control F. Briz, J.A. Cancelas, A. Diez, J. Gomez-Aleixandre, pp 159-163 The prototype developed at the "Departamento de Ingenierfa Eldctricia, Eletr6nica, de Computadores y de Sistemas" (DIEECS) in the School of Industrial Engineering at the University of Oviedo consists of the implementation, software and hardware, of the position and speed dynamic control of an asynchronous motor. The drive for such a control is not standard. Asynchronous motor drives currently usually include a speed loop with only a reference input. For dynamic control, a drive with direct access to the three inner current loops is necessary. This paper describes the development of the prototype, emphasizing the results of the work.
025 Polynomial Predictive Functional Controller for A.C. Motors P. Boucher, A. Chene, D. Dumur, F. Lafabregue, pp 165-170 This paper presents a polynomial approach of the Predictive Functional Control method, giving an equivalent linear controller through three polynomials. The originality of this approach is to give the possibility to examine, for a particular choice of the parameters, the stability of the controlled loop. A set of parameters can be determined from geometric rules. The Polynomial Predictive Functional Control (PPFC) method has been
017 High Performance Applications: Robot Motion in Complex Environments G. Schweitzer, pp 113-118 High-performance motion control is the basis for "intelligent" robot behaviour. It describes its ability to pick up information about its environment, and to process it so as to react according to the situation. The exploitation of "intelligent interaction" with the environment will be a dominant trend in future robotics. In complex environments, interaction with a human operator or user will often be necessary or desirable. Some robotics projects are presented, where "intelligent" motion control of a robot has been realized under environmental constraints: a robot with visual and tactile abilities, a mobile manipulator for rough terrain, a "polite" mobile robot, and a pingpong playing robot.
018 High Performance Control of Robot Manipulator without Using Inverse Dynamics Y. Hori, pp 119-125 Control of a multi-axis robot manipulator has to compensate for various kinds of nonlinear dynamical forces, i.e., centrifugal, Coriolis, gravitational and frictional forces. These interference forces could be compensated for by the well-known computed torque method; however, it requires an exact manipulator model and a huge amount of real-time computation in solving inverse dynamics. Nevertheless this method is quite sensitive to system parameter variation, including payload mass change.
019 Minimum Energy Operation Conditions of Induction Motors Under Torque Regulation. C. Canudas de Wit, S.I. Seleme, pp 127-133 The present work deals with the problem of minimizing the magnetic energy of the induction motor for steadystate operation under torque regulation. Aspects of efficiency improvement of this approach are analysed. Some control possibilities are presented, as well, followed by some simulated examples.
020 Adaptive Control of Stepper Motors Via Nonlinear Extended Matching R. Marino, P. Tomei, pp 135-139 The problem of accurate positioning control of permanent magnet stepper motors with sinusoidal flux distribution is considered. The load torque and the resistance of each stator phase winding are assumed to be unknown. A nonlinear adaptive control scheme is proposed which guarantees global tracking of desired position trajectory and global convergence of the estimated parameters. Simulation results are included.
021 Performances of a Model Reference Adaptive Control of an Industrial Robot E.J.W. Schoenmakers, H.H. van de Ven, pp 141-146 This paper describes the design and realization of Model Reference Adaptive Controller (MRAC) for the first two links of a ASEA IRb6 robot. A time-continuous asymptotic stable adaptive controller has been designed by using hyperstability and positivity concepts. The adaptation algorithm has been discretized for the digital implementation, with certain modifications. The practical implementation shows that, as a result of the physical disturbances due to stiction Coulomb friction, actuator saturation and gravitational loading, the
727 controller has to be modified. Experimental results show good capability tracking the modified MRAC controller. Furthermore, the dynamic interaction between the first two links has been eliminated.
022 Advanced Variable Structure Control of High Performance Drives A. Balestrino, D. Galardinl, A. Landi, pp 147-152 An advanced variable structure control as an electrical drive with sinusoidal brushless motor is proposed. An adaptive model-following control loop (AMFC) is proposed in order to rebuild the back e.m.f, coefficient and to cancel the non-linear term due to the back e.m.£ by means of a feed-forward compensation. The on-line identification of the back e.m.f, coefficient and the application of an optimal phase advance in the voltage improves the efficiency of the brushless motor. A disturbance observer is considered and suitably modified in order to provide a feed-forward compensation counteracting the undesirable disturbance effects.
023 Vibration Control of a Flexible Cartesian Robot: Extension of a Preshaping Input Method E. D'Amato, F. Durante, P. Rissone, pp 153-157 This paper deals with the extension of a preshaping input method to the flexibility control of a Cartesian robot. The method is the original one recently proposed by the authors and already modeled and discussed for a polar robot geometry. Besides the above extension, the method has been numerically simulated to analyze the behaviour of a one link robot under different model parameter conditions. This activity allowed the characterization of the method for what concerns the robustness: the effectiveness of the method under structural damping factors and modal frequency variations. The observed behaviour has been physically interpreted and presented in quantitative terms.
024 Design of AC Drives with Position and Speed Dynamic Control F. Briz, J.A. Cancelas, A. Diez, J. Gomez-Aleixandre, pp 159-163 The prototype developed at the "Departamento de Ingenierfa Eldctricia, Eletr6nica, de Computadores y de Sistemas" (DIEECS) in the School of Industrial Engineering at the University of Oviedo consists of the implementation, software and hardware, of the position and speed dynamic control of an asynchronous motor. The drive for such a control is not standard. Asynchronous motor drives currently usually include a speed loop with only a reference input. For dynamic control, a drive with direct access to the three inner current loops is necessary. This paper describes the development of the prototype, emphasizing the results of the work.
025 Polynomial Predictive Functional Controller for A.C. Motors P. Boucher, A. Chene, D. Dumur, F. Lafabregue, pp 165-170 This paper presents a polynomial approach of the Predictive Functional Control method, giving an equivalent linear controller through three polynomials. The originality of this approach is to give the possibility to examine, for a particular choice of the parameters, the stability of the controlled loop. A set of parameters can be determined from geometric rules. The Polynomial Predictive Functional Control (PPFC) method has been