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

Abdullah Özer, Hirohiko Arai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish
Title of host publicationICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
Pages2621-2626
Number of pages6
Publication statusPublished - 2009
EventICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009 - Fukuoka, Japan
Duration: Aug 18 2009Aug 21 2009

Other

OtherICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
CountryJapan
CityFukuoka
Period8/18/098/21/09

Fingerprint

Metal spinning
Velocity control
Industrial robots
Position control
Robotics
Trajectories
Experiments
Robust control
Machining
Automation
Robots
Feedback

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

Özer, A., & Arai, H. (2009). Robotic metal spinning-experiments with cascaded position-velocity control with an add-on vibration suppressor for enhanced trajectory tracking. In ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings (pp. 2621-2626). [5335398]

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 proceedingConference contribution

Özer, A & Arai, H 2009, Robotic metal spinning-experiments with cascaded position-velocity control with an add-on vibration suppressor for enhanced trajectory tracking. in ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings., 5335398, pp. 2621-2626, ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009, Fukuoka, Japan, 8/18/09.
Özer A, Arai H. Robotic metal spinning-experiments with cascaded position-velocity control with an add-on vibration suppressor for enhanced trajectory tracking. In ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings. 2009. p. 2621-2626. 5335398
Özer, Abdullah ; Arai, Hirohiko. / Robotic metal spinning-experiments with cascaded position-velocity control with an add-on vibration suppressor for enhanced trajectory tracking. ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings. 2009. pp. 2621-2626
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