Modelling and Control Synthesis of Flexible Robot Arm Equipped with Additional Sensors

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F17%3A00317459" target="_blank" >RIV/68407700:21220/17:00317459 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Modelling and Control Synthesis of Flexible Robot Arm Equipped with Additional Sensors
Original language description
The work deals with the problem of improving the accuracy of the robot with serial kinematic structure by feedback control and an auxiliary measuring its deformations. As a first step the dynamic model of the robot has been created. First step in designing the suitable control, which takes into consideration the signals from additional sensors, is to optimization of a cascade control system and the second is optimization of H-infinity robust control system. In second step the results from first step was used. Any control of the physical system has some source of uncertainties. For this case the uncertainty are mainly due to unknown payload on the robot end-effector, modelling errors on the actuator constant and the dimensions of the robots construction. To achieve more precise control this uncertainty has to be taken in to account. This approach was tested on the fully compliant mathematical model and results shown that it has potential to enhance the controlling of large serial kinematic structure equipped with additional sensors. However the on-line control of the robot based on the additional auxiliary measurement can be difficult. The feasibility is going to be tested on ongoing construction of experimental stand.
Czech name
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Czech description
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Project
<a href="/en/project/GA13-39057S" target="_blank" >GA13-39057S: Position Feedback Based Stiness Increase of Robots by Redundant Measurement</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the 8th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS 2017
ISBN
978-80-01-06174-9
ISSN
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e-ISSN
2523-9589
Number of pages
10
Pages from-to
607-616
Publisher name
výroba
Place of publication
Praha
Event location
Praha
Event date
Jun 19, 2017
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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