High-speed pick-and-place parallel robot is a system where the inertia imposed on the motor shafts is real-time changing with the system configurations.High quality of computer control with proper controller parameter...High-speed pick-and-place parallel robot is a system where the inertia imposed on the motor shafts is real-time changing with the system configurations.High quality of computer control with proper controller parameters is conducive to overcoming this problem and has a significant effect on reducing the robot＇s tracking error.By taking Delta robot as an example,a method for parameter tuning of the fixed gain motion controller is presented.Having identifying the parameters of the servo system in the frequency domain by the sinusoidal excitation,the PD＋feedforward control strategy is proposed to adapt to the varying inertia loads,allowing the controller parameters to be tuned by minimizing the mean square tracking error along a typical trajectory.A set of optimum parameters is obtained through computer simulations and the effectiveness of the proposed approach is validated by experiments on a real prototype machine.Let the traveling plate undergoes a specific trajectory and the results show that the tracking error can be reduced by at least 50%in comparison with the conventional auto-tuning and Z-N methods.The proposed approach is a whole workspace optimization and can be applied to the parameter tuning of fixed gain motion controllers.展开更多
Large complex components are characterized by their complexity and large size,making it challenging to precisely calibrate robots and measurement devices,compensate for their pose and error,and plan measurement paths....Large complex components are characterized by their complexity and large size,making it challenging to precisely calibrate robots and measurement devices,compensate for their pose and error,and plan measurement paths.Consequently,it is difficult to guarantee the integrity and accuracy of three-dimensional(3D)measurements.In this study,a novel measurement trajectory planning method is developed to accurately obtain the 3D point clouds of large complex components by accounting for the field of view and overlapping area constraints.A hybrid identification algorithm based on the quasi-Newton and Levenberg Marquardt method is then proposed to realize the synchronous identification of kinematic parameter errors of the measurement system,allowing it to accurately reach the planning viewpoint.Finally,robotic calibration and measurement experiments of a high-speed rail headstock are conducted to evaluate the effectiveness and practicality of the proposed methods.展开更多
基金Supported by National Natural Science Foundation of China(Grant Nos.51305293,51135008)
文摘High-speed pick-and-place parallel robot is a system where the inertia imposed on the motor shafts is real-time changing with the system configurations.High quality of computer control with proper controller parameters is conducive to overcoming this problem and has a significant effect on reducing the robot＇s tracking error.By taking Delta robot as an example,a method for parameter tuning of the fixed gain motion controller is presented.Having identifying the parameters of the servo system in the frequency domain by the sinusoidal excitation,the PD＋feedforward control strategy is proposed to adapt to the varying inertia loads,allowing the controller parameters to be tuned by minimizing the mean square tracking error along a typical trajectory.A set of optimum parameters is obtained through computer simulations and the effectiveness of the proposed approach is validated by experiments on a real prototype machine.Let the traveling plate undergoes a specific trajectory and the results show that the tracking error can be reduced by at least 50%in comparison with the conventional auto-tuning and Z-N methods.The proposed approach is a whole workspace optimization and can be applied to the parameter tuning of fixed gain motion controllers.
基金supported by the National Natural Science Foundation of China(Grant Nos.52105514,52075204)the Fundamental Research Funds for the Central Universities(Grant No.2042023kf0114)+1 种基金Wuhan Natural Science Foundation(Grant No.20240408010202220)Hubei Province Key R&D Program(Grant No.2022BAA067).
文摘Large complex components are characterized by their complexity and large size,making it challenging to precisely calibrate robots and measurement devices,compensate for their pose and error,and plan measurement paths.Consequently,it is difficult to guarantee the integrity and accuracy of three-dimensional(3D)measurements.In this study,a novel measurement trajectory planning method is developed to accurately obtain the 3D point clouds of large complex components by accounting for the field of view and overlapping area constraints.A hybrid identification algorithm based on the quasi-Newton and Levenberg Marquardt method is then proposed to realize the synchronous identification of kinematic parameter errors of the measurement system,allowing it to accurately reach the planning viewpoint.Finally,robotic calibration and measurement experiments of a high-speed rail headstock are conducted to evaluate the effectiveness and practicality of the proposed methods.
