Reduction of end effector oscillations of a parallel mechanism with modified motion profiles
- verfasst von
- Julian Oltjen, Jens Kotlarski, Tobias Ortmaier
- Abstract
This paper addresses the efficient and user-friendly application of input shaping to a nonlinear parallel mechanism, i.e. the delta robot. The objective is the reduction of residual end effector oscillations at the end of a point-to-point (PTP) movement, without a need for profound user experience. Hence, a detailed identification of system characteristics and computationally intensive model equations are avoided. Instead, configuration dependent oscillation characteristics are followed by an adaptive look-up table. The data acquisition is based on existing standard sensors, in order to avoid additional hardware investments. Uncertain natural frequencies and nonlinear oscillations are handled by the selection of a robust input shaper design with adjustable insensitivity. The performance of the method is proven by experimental validation on a delta robot, that is operated by a standard industrial PLC motion control system. The experiments show an extensive decrease of residual oscillations and, hence, reduced decay times at the end of a commanded motion. Due to the system specific motion profiles, basic motion constraints as acceleration and jerk can be significantly increased for a further reduction of motion time.
- Organisationseinheit(en)
-
Institut für Mechatronische Systeme
- Typ
- Aufsatz in Konferenzband
- Seiten
- 823-829
- Anzahl der Seiten
- 7
- Publikationsdatum
- 20.11.2015
- Publikationsstatus
- Veröffentlicht
- Peer-reviewed
- Ja
- ASJC Scopus Sachgebiete
- Wirtschaftsingenieurwesen und Fertigungstechnik, Elektrotechnik und Elektronik
- Elektronische Version(en)
-
https://doi.org/10.1109/iciea.2015.7334224 (Zugang:
Geschlossen)