Title :
Adaptive feedforward control of automatic pouring robot considering influence of the accumulating disturbance
Author :
Yano, Kenichi ; Kaneko, Motoki ; Noda, Yoshiyuki ; Terashima, Kazuhiko
Author_Institution :
Dept. of Human & Inf. Syst., Gifu Univ.
Abstract :
The purpose of this study is to control the series of actions in the pouring process to improve the productivity of the factory, the safety of workers, and the quality of the product. A mathematical model of the pouring processes was built; based on the model, a forward tilting control input was designed to hold the liquid in the sprue cup at a constant level. A pouring flow rate model for the change in the pour rate due to the accumulating slag was constructed, and an adaptive feedforward control system for the automatic pouring robot was developed. The effectiveness of the proposed system is shown through control simulations and experiments
Keywords :
adaptive control; control system synthesis; feedforward; flow control; mathematical analysis; production control; robots; adaptive feedforward control; automatic pouring robot; forward tilting control; mathematical model; pouring flow rate; Adaptive control; Adaptive systems; Automatic control; Mathematical model; Product safety; Production facilities; Productivity; Programmable control; Robotics and automation; Slag;
Conference_Titel :
Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE
Conference_Location :
Munich
Print_ISBN :
0-7803-9797-5
Electronic_ISBN :
0-7803-9797-5
DOI :
10.1109/CACSD-CCA-ISIC.2006.4777085
