Title :
High-speed trajectory control of a direct-drive manipulator
Author :
Youcef-Toumi, K. ; Kuo, A.T.Y.
Author_Institution :
Dept. of Mech. Eng., MIT, Cambridge, MA, USA
fDate :
2/1/1993 12:00:00 AM
Abstract :
High-speed precision trimming of three-dimensional parts using laser-cutting industrial robots is addressed. A control system for direct-drive manipulators specially designed for high-speed trajectory control applications is developed. The concept of decoupled and invariant dynamics is discussed for a specific manipulator, and a simple procedure for system identification and control system design is presented. It is demonstrated that, through proper arm mechanism design, the control system can be greatly simplified and satisfactory control performance achieved. The arm mechanism design and control system are evaluated through simulations and experiments. Experimental tracking performance achieves a speed of 3 m/s and an acceleration of 3.8 g, with a joint mean tracking error of 0.0556°
Keywords :
control system synthesis; cutting; identification; industrial robots; position control; 3 m/s; arm mechanism; control system design; decoupled dynamics; direct-drive manipulator; invariant dynamics; joint mean tracking error; laser-cutting industrial robots; precision trimming; system identification; trajectory control; Acceleration; Control systems; Couplings; Electrical equipment industry; Laser beam cutting; Manipulator dynamics; Orbital robotics; Robot control; Service robots; Trajectory;
Journal_Title :
Robotics and Automation, IEEE Transactions on
