Improving the dynamic accuracy of industrial robots by trajectory pre-compensation

Author

Verdonck, Walter ; Swevers, Jan

Author_Institution

Dept. of Mech. Eng., Katholieke Univ., Leuven, Belgium

Volume

4

fYear

2002

fDate

2002

Firstpage

3423

Abstract

This paper presents a method to improve the path tracking accuracy of an industrial robot without replacing the standard industrial controller. By calculating off-line an appropriate trajectory pre-compensation, the effects of the nonlinear dynamics are compensated. This is realized by filtering the desired trajectory with the inverse dynamic model of the robot and its velocity controller. This compensation is applied as a velocity feedforward in the standard industrial controller avoiding the need for a torque control interface. The method presented is validated experimentally on a KUKA IR 361 industrial robot. The results show clearly an improved path tracking accuracy on circular trajectories.

Keywords

compensation; feedforward; industrial robots; path planning; robot dynamics; torque control; tracking; velocity control; KUKA IR 361; feedforward; industrial robot; inverse dynamic; nonlinear dynamics; path tracking; torque control; trajectory compensation; velocity controller; Electrical equipment industry; Feedforward systems; Filtering; Industrial control; Inverse problems; Robot control; Robotics and automation; Service robots; Trajectory; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on

Print_ISBN

0-7803-7272-7

Type

conf

DOI

10.1109/ROBOT.2002.1014240

Filename

1014240