DocumentCode :
2818436
Title :
Simplified approach for modelling and control a 3-DOF RRR type robotic manipulator using squirrel-cage induction motors
Author :
Diniz, E.C. ; Honório, D.A. ; Almeida, O.M. ; Barreto, L.H.S.C.
Author_Institution :
Dept. de Eng. Eletr., Univ. Fed. do Ceara, Fortaleza, Brazil
fYear :
2010
fDate :
8-10 Nov. 2010
Firstpage :
1
Lastpage :
7
Abstract :
Worldwide there are currently over 800,000 industrial robots in operation, mostly in Japan, the European Union and North America. Most of the robots use DC motors, driving the manipulator´s maintenance very expensive. This is the main reason for changing, whenever it´s possible, a dc motor for an ac motor. For such tasks, vector control enables the control of induction motors in similar way used in dc motors. Vector control, also called field oriented control, enhances the dynamic performance of ac motors, and is becoming an industrial standard. So, to check possibility of using induction motors in manipulators, this paper proposes a control of 3-DOF manipulator driven by induction motors. For this we have modeled the manipulator mechanical coupling as a load applied at induction motor shaft, so it has direct influence on both dq currents, which were chosen as ours state variables to be controlled. This simplification provides not only an easy design procedure, but also a computational implementation of low complexity, allowing system to be implemented on a digital signal processing and thus motivating its application in industrial environments. Experimental tests on a built manipulator are shown validating simulation results and shown certain degree of robustness on currents´ control as expected for vector control and also giving a low error at steady-state for manipulator position.
Keywords :
industrial manipulators; machine vector control; robust control; squirrel cage motors; 3-DOF RRR type robotic manipulator; AC motor; DC motor; digital signal processing; field oriented control; induction motor shaft; industrial environment; industrial robot; manipulator maintenance; mechanical coupling; squirrel cage induction motor control; vector control; Equations; Induction motors; Machine vector control; Manipulator dynamics; Mathematical model; Torque; Digital Signal Processor; Modified Ziegler-Nichols Method; PID Controllers; Relay Feedback; Space Vector; Vector Control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industry Applications (INDUSCON), 2010 9th IEEE/IAS International Conference on
Conference_Location :
Sao Paulo
Print_ISBN :
978-1-4244-8008-1
Electronic_ISBN :
978-1-4244-8009-8
Type :
conf
DOI :
10.1109/INDUSCON.2010.5740067
Filename :
5740067
Link To Document :
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