Abstract
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.
| Original language | English |
|---|---|
| Title of host publication | ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings |
| Pages | 2621-2626 |
| Number of pages | 6 |
| Publication status | Published - 2009 |
| Event | ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009 - Fukuoka, Japan Duration: Aug 18 2009 → Aug 21 2009 |
Other
| Other | ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009 |
|---|---|
| Country | Japan |
| City | Fukuoka |
| Period | 8/18/09 → 8/21/09 |
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Keywords
- Intelligent manufacturing systems
- Kinematics
- Metal spinning
- Plastic forming
- Robotics
- Trajectory control
- Vibration
ASJC Scopus subject areas
- Information Systems
- Control and Systems Engineering
- Industrial and Manufacturing Engineering
Cite this
Robotic metal spinning-experiments with cascaded position-velocity control with an add-on vibration suppressor for enhanced trajectory tracking. / Özer, Abdullah; Arai, Hirohiko.
ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings. 2009. p. 2621-2626 5335398.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Robotic metal spinning-experiments with cascaded position-velocity control with an add-on vibration suppressor for enhanced trajectory tracking
AU - Özer, Abdullah
AU - Arai, Hirohiko
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
KW - Intelligent manufacturing systems
KW - Kinematics
KW - Metal spinning
KW - Plastic forming
KW - Robotics
KW - Trajectory control
KW - Vibration
UR - http://www.scopus.com/inward/record.url?scp=77951117652&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77951117652&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:77951117652
SN - 9784907764333
SP - 2621
EP - 2626
BT - ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
ER -