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Model-based Feedforward Control in Industrial Robotics

Martin Grotjahn, Bodo Heimann
2002 The international journal of robotics research  
Simple linear joint controllers are still used in typical industrial robotic systems.  ...  Starting from this, one method is chosen for application to the stateof-the-art industrial robot KUKA KR15. The algorithm is based on a complete nonlinear dynamic model of the robot.  ...  Conclusions In this paper different algorithms for model-based feedforward control in industrial robotics are presented.  ... 
doi:10.1177/027836402320556476 fatcat:eel4ecawpbeafft5vix25gvt4y

Model-Based Control for Industrial Robots: Uniform Approaches for Serial and Parallel Structures [chapter]

Houssem Abdellatif, Bodo Heim
2006 Industrial Robotics: Theory, Modelling and Control  
Model-based Feedforward control The basics for implementing model-based feedforward control are now achieved. We have adequate modeled systems with accurate identified parameters.  ...  Efficient Formulation of Inverse Dynamics Model-based and feedforward control in industrial robotics requires computational efficient calculation of the inverse dynamics, to fulfill real-time requirements  ...  Conclusions This chapter presented a uniform and coherent methodology for model-based control of industrial robots.  ... 
doi:10.5772/5037 fatcat:bxvky46x5rdztefs4evcda36lq

Increasing the Accuracy for a Piezo-Actuated Micro Manipulator for Industrial Robots using Model-Based Nonlinear Control

Björn Olofsson, Olof Sörnmo, Ulrich Schneider, Marc Barho, Anders Robertsson, Rolf Johansson
2012 IFAC Proceedings Volumes  
We consider the problem of modeling and control of the nonlinear dynamics of a micro manipulator, utilized for machining operations in combination with industrial robots.  ...  The obtained models form the basis for a combined feedforward and feedback control scheme for accurate position control.  ...  PID controller combined with feedforward control based on the Prandtl-Ishlinskii model with the affine shaping function ϕ 1 (·) in Eq. (15). C.  ... 
doi:10.3182/20120905-3-hr-2030.00116 fatcat:yotfxfyy35c2xhitdtag6fdgxq

Sensorless friction-compensated passive lead-through programming for industrial robots

Andreas Stolt, Fredrik Bagge Carlson, M. Mahdi Ghazaei Ardakani, Ivan Lundberg, Anders Robertsson, Rolf Johansson
2015 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
Industrial robots are important when the degree of automation in industry is increased.  ...  Further, a method for detecting small external torques is described, based on the use of the low-level joint controllers with increased integral gain.  ...  INTRODUCTION Industrial robots have become indispensable in many places in industry today, such as the automotive industry.  ... 
doi:10.1109/iros.2015.7353870 dblp:conf/iros/StoltCALRJ15 fatcat:hnyfseawfngdpofckgj7s7yocq

Active Disturbance Rejection Control of Multi-joint Industrial Robots Based on Dynamic Feedforward

Cheng, Tu, Zhou, Zhou
2019 Electronics  
Considering the unavailability of precise robot model parameters and the uncertain disturbance in real operation, we put forward an active disturbance rejection control (ADRC) strategy based on dynamic  ...  In this paper, the dynamics-based high-performance robot motion control technology has been mainly studied, and the overall structure is controlled via dynamics forward, given the nonlinearity, strong  ...  Model-based control structure. (a) dynamic feedback compensation; (b) dynamic feedforward. Figure 1 . 1 Figure 1. Model-based control structure.  ... 
doi:10.3390/electronics8050591 fatcat:cbxxuz3icjgzlg6jx3ybuvre7y

Neural-Learning Trajectory Tracking Control of Flexible-Joint Robot Manipulators with Unknown Dynamics [article]

Shuyang Chen, John T. Wen
2019 arXiv   pre-print
The first approach uses iterative learning control, with the gradient-based iterative update generated from the robot forward dynamics model.  ...  Fast and precise motion control is important for industrial robots in manufacturing applications. However, some collaborative robots sacrifice precision for safety, particular for high motion speed.  ...  These approaches have been extended to flexible joint robots, as in some collaborative industrial robots and space robots [5] - [7] .  ... 
arXiv:1908.03269v1 fatcat:3zfgxiddojbijkja3elu27uo7q

On Feedback Linearization for Robust Tracking Control of Flexible Joint Robots

Stig Moberg, Sven Hanssen
2008 IFAC Proceedings Volumes  
Feedback linearization is one of the major academic approaches for controlling flexible joint robots.  ...  This contribution investigates the discrete-time implementation of the feedback linearization approach for a realistic three-axis robot model.  ...  The two main approaches are feedforward control and feedback linearization, and both are based on a rigid dynamic model, combined with a diagonal PD or PID controller.  ... 
doi:10.3182/20080706-5-kr-1001.02069 fatcat:abe5kny7tndvhbvkqdvylgyaz4

Industrial Robot Trajectory Tracking Control Using Multi-Layer Neural Networks Trained by Iterative Learning Control

Shuyang Chen, John T. Wen
2021 Robotics  
Fast and precise robot motion is needed in many industrial applications.  ...  Development and evaluation of this methodology are based on the ABB IRB6640-180 industrial robot and ABB RobotStudio software packages.  ...  Acknowledgments: The authors would like to thank Glenn Saunders for help setting up the ABB robot testbed. Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/robotics10010050 fatcat:xfqjdg6hv5hjrpubw6r6s6t5xi

Model-Aided Controller Evaluation for a Surgical Assistance Robot to Track Patient Movements in Real Time

H.-C. Schneider, J. Wahrburg, H. Roth
2011 IFAC Proceedings Volumes  
In this paper, we present a model-based controller that improves the dynamics of surgical instrument tracking, under the consumption of the limited measurement rate of common optical localizer systems  ...  This contribution describes the model-aided development and evaluation of a surgical robot motion controller that has been performed in order to improve the robot's dynamic behavior during optically navigated  ...  The control synthesis is performed on the basis of a reliable simulation model that has been comprehensively described in Schneider and Wahrburg (2010) In the field of industrial robotics, it is common  ... 
doi:10.3182/20110828-6-it-1002.00483 fatcat:fr6uijlfofgvnckqk3m5ft42je

A New Type of Industrial Robot Trajectory Generation Component Based on Motion Modularity Technology

Zhaoming Liu, Nailong Liu, Hongwei Wang, Shen Tian, Ning Bai, Feng Zhang, Long Cui
2020 Journal of Robotics  
This work constructs a modularized industrial robot trajectory generation component based on Dynamic Movement Primitives (DMP) theory.  ...  However, the industrial robot control system does not adopt the technical roadmap of motion modularity, it generates complex trajectories by providing a large number of sampling points.  ...  Trajectory Generation Component Based on Motion Modularity Technology is section will take an actual robot control system as an example to analyze the traditional industrial robot control system in detail  ... 
doi:10.1155/2020/3196983 fatcat:3qeacbkhcvhi7dngpse63tgalq

Comparison of two feedforward design methods aiming at accurate trajectory tracking of the end point of a flexible robot arm

D.E. Torfs, R. Vuerinckx, J. Swevers, J. Schoukens
1998 IEEE Transactions on Control Systems Technology  
robot equipped with a velocity-controlled actuator.  ...  Both feedforward methods design stable prefilters which approximate the unstable inverse system model.  ...  for industrial robots.  ... 
doi:10.1109/87.654872 fatcat:4tjhysemnbd5dizmosqfmyijfi

Predictive seam tracking with iteratively learned feedforward compensation for high-precision robotic laser welding

Zhenjun Luo, Jian S. Dai, Chenyuan Wang, Fengli Wang, Yongli Tian, Mingyang Zhao
2012 Journal of manufacturing systems  
In this paper, a novel architecture for robotic seam tracking using an industrial robot and off-the-shelf sensors is proposed to compensate the residual errors that are commonly observed in high-precision  ...  robotic laser welding due to the nonlinearity of a seam and the fast path drifts along a robot path.  ...  In their positional feedforward controller, a linearized robot dynamic model and parallel neural nets were used to optimally compensate nonlinear coupling effects.  ... 
doi:10.1016/j.jmsy.2011.03.005 fatcat:jfuzbss2cra4thjw5lufqwpiaq

Vibration Suppression Control based on Final State Control Considering Convergence Time and Inertia Variation for Industrial Robot

Takashi Yoshioka, Naoki Shimada, Kiyoshi Ohishi, Toshimasa Miyazaki, Yuki Yokokura
2014 IEEJ Journal of Industry Applications  
In addition, the inertia moment of the industrial robot is changed by the end-effector tool. Therefore, robust vibration suppression control is required.  ...  Industrial robots require high-speed and high-precision motion for improvements in productivity and product quality.  ...  Miyazaki: "Robust Motion Con- trol of Industrial Robot Manipulator Based on Robot Parameter Identification and Feedforward Control Considering Resonant Frequency", IEEJ Trans.  ... 
doi:10.1541/ieejjia.3.236 fatcat:tqjqaub6qjf6zijxaw6ntl45am

Dynamic Modeling and Torque Feedforward based Optimal Fuzzy PD control of a High-Speed Parallel Manipulator

Zirong Lin, Chuangchuang Cui, Guanglei Wu
2021 Journal of Robotics and Control (JRC)  
However, there are still a number of open problems, such as the development of a precise dynamic model to be used in the model-based control design.  ...  Dynamic modeling and control of high-speed parallel manipulators are of importance due to their industrial applications deployed in production lines.  ...  INTRODUCTION DELTA robot and SCARA robots dedicate to pick-andplace tasks in the industrial production line [1] .  ... 
doi:10.18196/26133 fatcat:r4yoslntvnbxrefn25hjms4ml4

Model Based Position¿Force¿Vision Sensor Fusion for Robot Compliant Motion Control

Ruben Smits, Herman Bruyninckx, Wim Meeussen, Johan Baeten, Peter Slaets, Joris Schutter
2006 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems  
This paper shows how multi sensor fusion with position, force and vision sensors can help to improve robot control.  ...  It shows how Bayesian filtering helps in the fusion and how the extra information from fusing the sensors can be used in different control aspects.  ...  Model Based Feedback A second extension to the basic control loop is model based feedback: not only the feedforward but also the feedback component comes from a model.  ... 
doi:10.1109/mfi.2006.265636 dblp:conf/mfi/SmitsBMBSS06 fatcat:x53euitjzffmvgh4xv2ym74tqm
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