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Study and Implementation of Industrial Robots Dynamic Controllers in Real-Time. Name: Núria Rosillo Guerrero Faculty: Computer Science Engineering Department: Mathematics Science and Computation . Universidad Cardenal Herrera CEU Halmstad, 10.03.14. PUMA 560 Architecture. Robot Arm.

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study and implementation of industrial robots dynamic controllers in real time
Study and Implementation of Industrial Robots Dynamic Controllers in Real-Time

Name:

Núria Rosillo Guerrero

Faculty:

Computer Science Engineering

Department:

Mathematics Science and Computation

Universidad Cardenal Herrera CEU

Halmstad, 10.03.14

Núria Rosillo Guerrero

puma 560 architecture
PUMA 560 Architecture

Robot Arm

Control Wardrobe

Original Architecture

Núria Rosillo Guerrero

puma 560 architecture3
PUMA 560 Architecture

Robot Arm

Núria Rosillo Guerrero

puma 560 architecture4
PUMA 560 Architecture

Control Wardrobe

  • Power Tray.
  • Control Panel.
  • Control Module.
  • I/O Module.
  • Amplifier Module.

Núria Rosillo Guerrero

puma 560 architecture5
PUMA 560 Architecture

Original Architecture

...

Núria Rosillo Guerrero

puma 560 architecture6
PUMA 560 Architecture

Original Architecture

  • LSI –11/02 Processor.
  • Digital Servos.
  • Analogical Servos.
  • Amplifiers.
  • Incremental encoders.
  • Potentiometers.

...

Núria Rosillo Guerrero

puma 560 architecture7
PUMA 560 Architecture

Original Architecture

Núria Rosillo Guerrero

opened control architecture
Opened Control Architecture

...

Núria Rosillo Guerrero

opened control architecture9
Opened Control Architecture

...

Núria Rosillo Guerrero

opened control architecture10
Opened Control Architecture
  • PCL-812.
  • PCL-833.
  • PCL-726.

...

Núria Rosillo Guerrero

opened control architecture11
Opened Control Architecture

...

Núria Rosillo Guerrero

opened control architecture12
Opened Control Architecture
  • Brake circuit
  • Original braking system.
  • Brake control by computer.

Núria Rosillo Guerrero

obtaining of robots dynamic model by gibbs appell formulation
Obtaining of Robots dynamic model by Gibbs-Appell formulation

...

Núria Rosillo Guerrero

obtaining of robots dynamic model by gibbs appell formulation14
Obtaining of Robots dynamic model by Gibbs-Appell formulation

Solve the Inverse Dynamic Problem

Gibbs’s Function :

Gibbs’s function for the solid i is given by

...

Núria Rosillo Guerrero

obtaining of robots dynamic model by gibbs appell formulation15
Obtaining of Robots dynamic model by Gibbs-Appell formulation

Solve the Inverse Dynamic Problem

If we express the tensorial and vectorial magnitudes considering a reference system located in the iesim bar.

For a system consisting of n bodies, Gibbs’s function could be given by:

...

Núria Rosillo Guerrero

obtaining of robots dynamic model by gibbs appell formulation16
Obtaining of Robots dynamic model by Gibbs-Appell formulation

Solve the Inverse Dynamic Problem

The Gibbs-Appell’s movements equations are obtained leading respect to the generalized accelerations , of that way we obtain the inertial forces that correspond to the generalized external forces j

Operating:

...

Núria Rosillo Guerrero

obtaining of robots dynamic model by gibbs appell formulation17
Obtaining of Robots dynamic model by Gibbs-Appell formulation

Complexity n algorism

From D-H and off-line:

With a recursive way:

A term:

B term:

...

Núria Rosillo Guerrero

obtaining of robots dynamic model by gibbs appell formulation18
Obtaining of Robots dynamic model by Gibbs-Appell formulation

Complexity n algorism

...

Núria Rosillo Guerrero

obtaining of robots dynamic model by gibbs appell formulation19
Obtaining of Robots dynamic model by Gibbs-Appell formulation

Direct Dynamic Problem

Algorism that simulate the dynamic behavior of industrial robot.

General form of the movement equation:

Obtaining BIAS vector:

Obtaining gravity vector:

...

Núria Rosillo Guerrero

obtaining of robots dynamic model by gibbs appell formulation20
Obtaining of Robots dynamic model by Gibbs-Appell formulation

Direct Dynamic Problem

Obtaining the system inertias matrix.

Núria Rosillo Guerrero

movement simulation through the dynamic model
Movement simulation through the Dynamic Model

qd

q, v, a

Controller

Simulator

Dynamic equation:

DDP: IDP

System to solve:

...

Núria Rosillo Guerrero

movement simulation through the dynamic model22
Movement simulation through the Dynamic Model

Results

Núria Rosillo Guerrero

control of manipulators robots
Control of manipulators Robots

Development of a general expression to the controllers by passiveness and inverse dynamic

 = Mâ + C + G

...

Núria Rosillo Guerrero

control of manipulators robots24
Control of manipulators Robots

Control by passiveness

The control based in the passiveness with point to point strategies can be seen as particular cases of this control law.

We obtain the gravitational term a partir de:

doing that and

...

Núria Rosillo Guerrero

control of manipulators robots25
Control of manipulators Robots

...

Núria Rosillo Guerrero

control of manipulators robots26
Control of manipulators Robots

Control by passiveness

...

Núria Rosillo Guerrero

control of manipulators robots27

Type of control over the trajectory

a

Point to point

Follow-up of the trajectory

Follow-up of the trajectory with integral action

Control of manipulators Robots

Control by inverse dynamic

We start from this equation

We will establish a control over the trajectory, calculating a of that way

...

Núria Rosillo Guerrero

control of manipulators robots28
Control of manipulators Robots

Control by inverse dynamic

Núria Rosillo Guerrero

reference trajectories
Reference Trajectories

Ramp entry Natural cubic spline

...

Núria Rosillo Guerrero

reference trajectories30
Reference Trajectories

Fourier Series

...

Núria Rosillo Guerrero

conclusions
Conclusions

Núria Rosillo Guerrero

ad