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

Kód výsledku v 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>

Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

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OECD FORD obor

20302 - Applied mechanics

Projekt

<a href="/cs/project/GA13-39057S" target="_blank" >GA13-39057S: Zvyšování tuhosti robotů pomocí polohové zpětné vazby a redundantního měření</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2017

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

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

Počet stran výsledku

10

Strana od-do

607-616

Název nakladatele

výroba

Místo vydání

Praha

Místo konání akce

Praha

Datum konání akce

19. 6. 2017

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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