Integrated control system and mechanical design of a compliant two-axes mechanism

被引:17
作者
Rieber, JM
Taylor, DG [1 ]
机构
[1] Georgia Inst Technol, Sch Elect & Comp Engn, Atlanta, GA 30332 USA
[2] Univ Stuttgart, Inst Syst Theory Engn, D-70550 Stuttgart, Germany
关键词
Gantry robots; point-to-point motion; integrated robot design; H-infinity control; gain-scheduling;
D O I
10.1016/j.mechatronics.2004.04.008
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper considers point-to-point motion control of a compliant Cartesian two-axes mechanism as used in the circuit-board assembly industry. The investigation demonstrates how high-precision manufacturing tasks can be optimized by the integration of robot link design and control system design. A gain-scheduled H-infinity control method is applied to achieve three goals: compensate for the varying mass distribution, suppress structural bending vibrations and friction disturbances, and at the same time achieve a small motion settling time. A trade-off between mass reduction and motion time reduction is shown via a simulation study related to an industry-grade prototype gantry robot. (C) 2004 Elsevier Ltd. All rights reserved.
引用
收藏
页码:1069 / 1087
页数:19
相关论文
共 15 条
[1]   Advanced gain-scheduling techniques for uncertain systems [J].
Apkarian, P ;
Adams, RJ .
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 1998, 6 (01) :21-32
[2]   SELF-SCHEDULED H-INFINITY CONTROL OF LINEAR PARAMETER-VARYING SYSTEMS - A DESIGN EXAMPLE [J].
APKARIAN, P ;
GAHINET, P ;
BECKER, G .
AUTOMATICA, 1995, 31 (09) :1251-1261
[3]  
BOOK WJ, 1983, ASME, V105, P245
[4]  
BOYD S, 1992, LINEAR MATRIX INEQUA
[5]   ANALYSIS OF ALGORITHMS FOR VELOCITY ESTIMATION FROM DISCRETE POSITION VERSUS TIME DATA [J].
BROWN, RH ;
SCHNEIDER, SC ;
MULLIGAN, MG .
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 1992, 39 (01) :11-19
[6]   A LINEAR MATRIX INEQUALITY APPROACH TO H-INFINITY CONTROL [J].
GAHINET, P ;
APKARIAN, P .
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 1994, 4 (04) :421-448
[7]  
Gahinet P., 1995, LMI Control Toolbox
[8]  
Gere J.M., 1997, Mechanics of Materials, V4th ed.
[9]   LPV techniques for control of an inverted pendulum [J].
Kajiwara, H ;
Apkarian, P ;
Gahinet, P .
IEEE CONTROL SYSTEMS MAGAZINE, 1999, 19 (01) :44-54
[10]  
Nesterov Y., 1994, INTERIOR POINT POLYN