Robotic metal spinning-experiments with cascaded position-velocity control with an add-on vibration suppressor for enhanced trajectory tracking

Abdullah Özer*, Hirohiko Arai

*المؤلف المقابل لهذا العمل

نتاج البحث: Conference contribution

ملخص

In order to increase the adaptability of industrial robots to broader application areas, it is required to improve the fundamental control strategies with supplementary methods to a more sophisticated level. Machining processes are one of the areas that need more advanced and robust control approaches due to the steady force requirements and inevitable feedback between the task forces and dynamics of the system. With this research, it is aimed to introduce industrial robots, as a highly versatile automation tool, to the metal spinning process and expand its application areas. An industrial robot has been used to implement robotic metal spinning process and to conduct experiments. Preliminary experimental results for an enhanced trajectory tracking algorithms are presented in this paper to provide a foundation for the expansion of robotic applications. The results show that it is feasible to perform the metal spinning process by using an industrial robot with cascaded trajectory tracking algorithms. Further improvements can be observed with the proposed cascaded control technique together with an add-on vibration suppressor, in an attempt to enhance the process and attenuate the robot's joint oscillations.

اللغة الأصليةEnglish
عنوان منشور المضيفICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
الصفحات2621-2626
عدد الصفحات6
حالة النشرPublished - 2009
منشور خارجيًانعم
الحدثICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009 - Fukuoka, Japan
المدة: أغسطس ١٨ ٢٠٠٩أغسطس ٢١ ٢٠٠٩

سلسلة المنشورات

الاسمICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings

Other

OtherICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
الدولة/الإقليمJapan
المدينةFukuoka
المدة٨/١٨/٠٩٨/٢١/٠٩

ASJC Scopus subject areas

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  • ???subjectarea.asjc.2200.2207???
  • ???subjectarea.asjc.2200.2209???

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