Final state control based on high-speed positioning control considering acceleration and speed limits for industrial robot

Managing the working time (tact-time) is important to improving the efficiency of a production line using industrial robots. Therefore, the tact-time must be managed exactly. However, a feedback system generates a phase delay. Consequently, managing the designed tact-time exactly is difficult. To solve this problem, this paper proposes Final-State-Control (FSC) based on high-speed positioning control considering acceleration and speed limits for industrial robot. Because the state variables of the plant system is set directly, the proposed method design the profile to reach a target position at a designed time. Therefore, the time is managed exactly. The proposed method also design the profile to consider overshoot of the position command, acceleration, and speed limits using Linear Matrix Inequalities (LMI). The proposed method is evaluated through numerical simulations and an experiment using an actual industrial robot. The results show that the position response reach the targeted positions at the designed tact-time by using the proposed method. The proposed method also suppress vibrations and satisfy the design conditions (i.e.. acceleration, speed and position commands, and position response) of the industrial robot.