A Study on the Motion Analysis and Lead-Filter Design for High Speed/Accuracy Movement of Gantry Robot
갠트리 로봇의 고속/고정밀 이송을 위한 모션분석 및 앞섬필터 설계

Jin-Dae Kim, Che-Seung Cho, Hyuk-Jin Lee, Chan-Bai Shin, Chul-Hu Park
2011 Journal of Institute of Control Robotics and Systems  
Recently gantry-type robot with 3 axes rectangular coordinates have been studied in the many industrial production equipment and machinery fields. To acquire a good handling and motion performance of this robot, reducing the settling-time and securing the accurate-transfer positioning under high-speed conditions should be required. However when robot is moved in high-speed, the large inertia of robot can lead to serious vibration of robot's head. The time-delayed control characteristics of this
more » ... acteristics of this robot can also lead to tracking error. In this research, the analysis of the effects of higher order positional-profile is carried out to assure high-speed performance and stiffness specifications. To remove the residual vibration caused by kinematic coupling effect of dual-servo gantry, we develop a dual-servo gantry of rotary type that moving frame of x-axis rotates about z-axis. In order to decrease the tracking error, the 3 type lead-filter through system identification was applied respectively. From the experimental results, it was shown that zero-order series leader-filter has the best performance about tracking error and settling time.
doi:10.5302/j.icros.2011.17.1.31 fatcat:te7hevyus5huvpl3uzlpoizuzm