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Contact transition control via joint acceleration feedback

W.L. Xu, J.D. Han, S.K. Tso, Y.C. Wang
2000 IEEE transactions on industrial electronics (1982. Print)  
In this control scheme, a classical integral force controller is refined by means of joint acceleration and velocity feedback.  ...  In this paper, a joint acceleration feedback control of high bandwidth is employed to damp oscillations during the contact transition when the approaching speed does not vanish.  ...  The control becomes an independent joint controller with the acceleration feedback.  ... 
doi:10.1109/41.824137 fatcat:pqsfy2bjxnbxnktpt2myb6vkqy

Modelling And Study of Motion Control System for Motorized Robot Arm Using Mat Lab And Analysis of The Arm By Using Ansys

K. Manoj Kumar, Ch. Sambaiah
2012 International Journal of Mechanical and Industrial Engineering  
In this paper the Motion control is one of the technological foundations of industrial automation.  ...  In the present work modeling of control system for motorized robot arm with a single degree of freedom is done. The results of the control system are also described.  ...  ACKNOWLEDGEMENTS The authors would like to thank the anonymous reviewers for their comments which were very helpful in improving the quality and presentation of this paper.  ... 
doi:10.47893/ijmie.2012.1084 fatcat:6vmwy36lezhubf5xhxu5u67ewy

Vibration Suppression for Angular Transmission Errors in Harmonic Drive Gearings and Application to Industrial Robots

Makoto Iwasaki, Hiroyuki Nakamura
2014 IFAC Proceedings Volumes  
The proposed approach has been applied to motion control of an actual industrial 6-axis robot and verified by numerical simulations and experiments.  ...  characteristics of the feedback system.  ...  The proposed control has been verified by experiments using the actual 6-axis industrial robot. Fig. 1 . 1 Schematic diagram of 6-axis industrial robot.  ... 
doi:10.3182/20140824-6-za-1003.00659 fatcat:xgcj62pe4vhm5oralflwjcnaha

Robust design of independent joint controllers with experimentation on a high-speed parallel robot

P. Chiacchio, F. Pierrot, L. Sciavicco, B. Siciliano
1993 IEEE transactions on industrial electronics (1982. Print)  
In this paper, a new linear independent joint control scheme is proposed; the design is made robust by closing another feedback loop that uses acceleration information besides the typical position and  ...  Independent joint controllers (of PD or PID type) are usually employed in industrial robot manipulators but cannot achieve satisfactory performance due to their inherent low rejection to disturbances and  ...  The design takes advantage of an acceleration feedback loop in addition to the conventional position and velocity loops used for control of servomechanisms.  ... 
doi:10.1109/41.232228 fatcat:6rqsqaqttnb6lkd63sga5hk5me

An FPGA-based controller for collaborative robotics

B. P. Jeppesen, N. Roy, L. Moro, F. Baronti
2017 2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)  
The use of robots is becoming more common in society.  ...  Industrial robots are being developed to work with people, and lower-force collaborative robots are being developed to help people in their everyday lives.  ...  of the UP board used in the kit.  ... 
doi:10.1109/isie.2017.8001394 dblp:conf/isie/JeppesenRMB17 fatcat:2fmxldah4jalrm6z7shms4ky4q

Design principles and implementation of acceleration feedback to improve performance of DC drives

P.B. Schmidt, R.D. Lorenz
1992 IEEE transactions on industry applications  
The objective of this work is to demonstrate the principles, design methodologies, and implementation of acceleration feedback to substantially improve the performance of DC servo drives.  ...  The impetus behind this work is the need to improve the stiffness of drives used in motion control applications where load fluctuations  ...  Power Electronics Consortium (WEMPEC) of the the University of Wisconsin-Madison and by the Allen-Bradley Company of Milwaukee, Wisconsin.  ... 
doi:10.1109/28.137444 fatcat:aq7yym6pz5fklmk7hheq7cpcni

Simulation Technique of Velocity-Based Discrete-time Control System with Intelligent Control Concepts for Open Architectural Industrial Robots

Fusaomi Nagata
2008 Open Automation and Control Systems Journal  
In order to develop a novel velocity-based discrete-time control system for an open architectural industrial robot, it is required from the points of view concerning safety, cost and easiness to preliminarily  ...  In this article, a simulation technique of velocity-based discrete-time control system for open architectural industrial robots is introduced by giving examples of intelligent control methods.  ...  that the resolved acceleration control law is used in the servo system of an industrial robot.  ... 
doi:10.2174/1874444300801010031 fatcat:vrh3pdwervgvnhtj72h4wnyimq

High‐level programming and control for industrial robotics: using a hand‐held accelerometer‐based input device for gesture and posture recognition

Pedro Neto, J. Norberto Pires, A. Paulo Moreira
2010 Industrial robot  
Purpose - Most industrial robots are still programmed using the typical teaching process, through the use of the robot teach pendant.  ...  Originality/value - This paper presents an alternative to the typical robot teaching process, extending the concept of human-robot interaction and co-worker scenario.  ...  Finally, most of users found it natural and intuitive to use gestures for controlling an industrial robot.  ... 
doi:10.1108/01439911011018911 fatcat:xkuztkdetjavfchwik24tjwsge

Slip detection with accelerometer and tactile sensors in a robotic hand model

Abdulrahman Abdulkareem S Al-Shanoon, Siti Anom Ahmad, Mohd. Khair b. Hassan
2015 IOP Conference Series: Materials Science and Engineering  
Acceleration force was analyzed using an accelerometer sensor to establish a completely autonomous robotic hand model.  ...  An automatic feedback control system was applied to regrip the particular object when it commences to slip.  ...  The control system for regripping the object after slipping was stimulated when the system utilized the acceleration signal as a feedback control signal.  ... 
doi:10.1088/1757-899x/99/1/012001 fatcat:2rya656mbbfrdntzs3kh6rlkiu

Application of Genetic Algorithms to Fine-gain Tuning of Improved the Resolved Acceleration Controller

Akimasa Otsuka, Fusaomi Nagata
2013 Procedia Computer Science  
The effectiveness was proved through fine-gain tuning of a resolved acceleration controller, which is one of the model-based robotic servo controllers.  ...  Position and velocity feedback gains should be tuned suitably to realize a stable position controller.  ...  Robotic servo controller Resolved acceleration control The dynamic model of an industrial manipulator is generally given by Here, subscript indices describe the number of each joint.  ... 
doi:10.1016/j.procs.2013.09.080 fatcat:blajbwgzmjbwxds76ponklq2pu

Optimal Tracking and Identification of Paths for Industrial Robots

Björn Olofsson, Henrik Nilsson, Anders Robertsson, Johan Åkesson
2011 IFAC Proceedings Volumes  
An earlier developed control structure for robust control is implemented and tested in a robot system.  ...  Both contactforce controlled path identification and real-time path tracking of the identified path are evaluated on a 6-DOF industrial robot of type IRB140 from ABB.  ...  Copyright by the International Federation of Automatic Control (IFAC) This research was partially made in the framework of the project ProFlexA, supported by the Swedish Foundation for Strategic Research  ... 
doi:10.3182/20110828-6-it-1002.02313 fatcat:4kqmmqyehnbivjhoqa7oqybs5e

Interdisciplinary Modelling of Robots Using CAD/CAE Technology

M. V Chugunov, I. N. Polunina
2018 Vestnik Mordovskogo Universiteta  
an industrial design.  ...  Robot webcams, sensors and feedback allow to establish a bidirectional connection between the behaviours of the 3D (virtual) and the physical models. Results.  ...  The range-finder ( fig. 3 ) establishes the distance to the target using the input parameters of velocity of the acceleration disks and the launching angle.  ... 
doi:10.15507/0236-2910.028.201802.181-190 fatcat:vaalb2m6abg7xblnwfnojo2uvq

A force–impedance controlled industrial robot using an active robotic auxiliary device

António Lopes, Fernando Almeida
2008 Robotics and Computer-Integrated Manufacturing  
This strategy involves cooperation of two robotic manipulators: the robotic controlled impedance device (RCID) and a commercial industrial robot.  ...  The RCID works attached in series with a position controlled commercial industrial robot.  ...  The proposed acceleration-tracking controller is an integral action controller. Reference acceleration feedforward and contact force positive feedback actions are used.  ... 
doi:10.1016/j.rcim.2007.04.002 fatcat:o6ldtidrajb3bo3qjel6whrbni

An Acceleration-based State Observer for Robot Manipulators with Elastic Joints

Alessandro De Luca, Dierk Schroder, Michael Thummel
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
We present an experimental validation of this observer for the three base joints of a KUKA KR15/2 industrial robot and illustrate the control use of the obtained results.  ...  For the design of advanced, possibly nonlinear, trajectory tracking control laws that are able to fully counteract the vibrations due to joint elasticity, full state feedback is needed.  ...  ACKNOWLEDGMENTS This work was performed while the first author was at the DLR, Institute of Robotics and Mechatronics, in Oberpfaffenhofen, supported by a Research Award for foreign researchers granted  ... 
doi:10.1109/robot.2007.364064 dblp:conf/icra/LucaST07 fatcat:dfv6jdwoxbgqbnbp2jmclot4uu

Path tracking control of a manipulator considering torque saturation

H. Arai, K. Tanie, S. Tachi
1994 IEEE transactions on industrial electronics (1982. Print)  
The execution of such a trajectory by a conventional feedback control scheme results in torque saturation.  ...  Control of the components normal to the path is given priority in order to keep the motion of the manipulator on the path.  ...  Oyama, Former Director of the Robotics Department, and Dr. T.  ... 
doi:10.1109/41.281604 fatcat:canj3e6f6bczlepi73do7yunki
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