Improvement of tracking accuracy of double-column machining center with high-speed and high-acceleration driving

2009 ◽  
Vol 4 (2) ◽  
pp. 210-217
Author(s):  
Masashi Miyaji ◽  
Motozumi Yura ◽  
Makoto Iwasaki
Keyword(s):  
High Speed ◽  
Tracking Accuracy ◽  
Machining Center ◽  
High Acceleration

Adaptive Synchronized Control for a Planar Parallel Manipulator: Theory and Experiments

2005 ◽  
Vol 128 (4) ◽  
pp. 976-979 ◽  
Author(s):  
Lu Ren ◽  
James K. Mills ◽  
Dong Sun
Keyword(s):  
Parallel Manipulator ◽  
High Speed ◽  
Control Method ◽  
Parametric Uncertainty ◽  
Synchronization Error ◽  
Tracking Accuracy ◽  
Unknown Parameters ◽  
High Acceleration ◽  
Planar Parallel Manipulator ◽  
Synchronized Control

In this paper, we develop a new control method, termed adaptive synchronized (A-S) control, for improving tracking accuracy of a P-R-R type planar parallel manipulator with parametric uncertainty. The novelty of A-S control, a combination of synchronized control and adaptive control, is in the application of synchronized control to a single parallel manipulator so that tracking accuracy is improved during high-speed, high-acceleration tracking motions. Through treatment of each chain as a submanipulator; the P-R-R manipulator is thus modeled as a multi-robot system comprised of three submanipulators grasping a common payload. Considering the geometry of the platform, these submanipulators are kinematically constrained and move in a synchronous manner. To solve this synchronization control problem, a synchronization error is defined, which represents the coupling effects among the submanipulators. With the employment of this synchronization error, tracking accuracy of the platform is improved. Simultaneously, the estimated unknown parameters converge to their true values through the use of a bounded-gain-forgetting estimator. Experiments conducted on the P-R-R manipulator demonstrate the validity of the approach.

Trajectory tracking control of delta parallel robot based on disturbance observer

2020 ◽  
pp. 095965182097482
Author(s):  
Mingkun Wu ◽  
Jiangping Mei ◽  
Jinlu Ni ◽  
Weizhong Hu
Keyword(s):  
Dynamic Model ◽  
Trajectory Tracking ◽  
Disturbance Observer ◽  
High Speed ◽  
Parallel Robot ◽  
Tracking Accuracy ◽  
Trajectory Tracking Control ◽  
Uncertain Dynamics ◽  
High Acceleration ◽  
Highly Nonlinear

Delta parallel robot is widely used in the manufacturing process of food, medicine, electronics and military industries, which is a highly nonlinear system with strongly uncertain dynamics. Therefore, there are many difficulties in the controller design of delta robot. Based on the simplified dynamic model, a nonlinear PD+ controller with nonlinear disturbance observer is proposed for Delta parallel robot in this article, which can realize high-precision trajectory tracking in high-speed and high-acceleration motion. Then, the asymptotic stability of the closed-loop system’s equilibrium point is proven by utilizing Lyapunov techniques and LaSalle’s invariance theorem. It is obvious that the proposed controller is significantly less dependent on the accuracy of the dynamic model. Besides, a disturbance observer based on the generalized momentum is constructed, which can effectively observe and compensate the disturbances. What’s more, the constructed disturbance observer avoids the calculation of the inverse of inertia matrix, which will greatly improve the response speed of the controller. The simulation results show that the proposed controller can assure better trajectory tracking accuracy in high-speed and high-acceleration motion. And the disturbance observer can effectively estimate the disturbance. The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article:This work was supported by the National Natural Science Foundation of China (grant number51474320).

scholarly journals Leg Trajectory Planning for Quadruped Robots with High-Speed Trot Gait

2019 ◽  
Vol 9 (7) ◽  
pp. 1508 ◽  
Author(s):  
Xuanqi Zeng ◽  
Songyuan Zhang ◽  
Hongji Zhang ◽  
Xu Li ◽  
Haitao Zhou ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
High Speed ◽  
Gait Pattern ◽  
Stride Frequency ◽  
Tracking Accuracy ◽  
Element Analysis ◽  
Maximum Acceleration ◽  
Quadruped Robots ◽  
Trot Gait ◽  
High Acceleration

In this paper, a single leg platform for quadruped robots is designed based on the motivation of high-speed locomotion. The leg is designed for lightweight and low inertia with a structure of three joints by imitating quadruped animals. Because high acceleration and extensive loadings will be involved on the legs during the high-speed locomotion, the trade-off between the leg mass and strength is specifically designed and evaluated with the finite element analysis. Moreover, quadruped animals usually increase stride frequency and decrease contact time as the locomotion speed increases, while maintaining the swing duration during trot gait. Inspired by this phenomenon, the foot-end trajectory for quadruped robots with a high-speed trot gait is proposed. The gait trajectory is planned for swing and stance phase; thus the robot can keep its stability with adjustable trajectories while following a specific gait pattern. Especially for the swing phase, the proposed trajectory can minimize the maximum acceleration of legs and ensure the continuity of position, speed, and acceleration. Then, based on the kinematics analysis, the proposed trajectory is compared with the trajectory of Bézier curve for the power consumption. Finally, a simulation with Webots software is carried out for verifying the motion stability with two trajectory planning schemes respectively. Moreover, a motion capture device is used for evaluating the tracking accuracy of two schemes for obtaining an optimal gait trajectory suitable for high-speed trot gait.

Dynamic Analysis of DVG 850 High-Speed Machining Center

2012 ◽  
Vol 487 ◽  
pp. 203-207
Author(s):  
Gong Xue Zhang ◽  
Xiao Kai Shen
Keyword(s):  
High Speed ◽  
Simulation Analysis ◽  
Response Analysis ◽  
Improved Method ◽  
Analysis Software ◽  
Element Analysis ◽  
Harmonic Response ◽  
Machining Center ◽  
Calculation Results ◽  
Harmonic Response Analysis

Purpose, with the application of workbench finite element analysis software, get the analysis results of DVG 850 high-speed vertical machining center via the modal analysis and harmonic response analysis. Use the calculation results for reference, put forward the improved method, and prove the credibility of the simulation analysis by testing DVG 850 prototype.

scholarly journals Monitoring and Modeling Railway Structures on High-Speed Lines with Asphalt Concrete Underlay: A Study on the Bretagne–Pays de la Loire Line

2020 ◽  
Vol 2674 (12) ◽  
pp. 600-607
Author(s):  
Diana Khairallah ◽  
Olivier Chupin ◽  
Juliette Blanc ◽  
Pierre Hornych ◽  
Jean-Michel Piau ◽  
...  
Keyword(s):  
Asphalt Concrete ◽  
High Speed ◽  
Large Scale ◽  
Strain Gages ◽  
Railway Transportation ◽  
Dynamic Stresses ◽  
High Speed Railway ◽  
High Frequencies ◽  
High Acceleration ◽  
High Speed Trains

The design and durability of high-speed railway lines is a major challenge in the field of railway transportation. In France, 40 years of feedback on the field behavior of ballasted tracks led to improvements in the design rules. However, the settlement and wear of ballast, caused by dynamic stresses at high frequencies, remains a major problem on high-speed tracks leading to high maintenance costs. Studies have shown that this settlement is linked to the high acceleration produced in the ballast layer by high-speed trains traveling on the track, disrupting the granular assembly. The “Bretagne–Pays de la Loire” high-speed line (BPL HSL), with its varied subgrade conditions, represents the first large-scale application of asphalt concrete (GB) as the ballast sublayer. This line includes 77 km of conventional track with a granular sublayer of unbound granular material (UGM) and 105 km of track with an asphalt concrete sublayer under the ballast. During construction, instruments such as accelerometers, anchored deflection sensors, and strain gages, among others, were installed on four sections of the track. This paper examines the instrumentation as well as the acquisition system installed on the track. The data processing is explained first, followed by a presentation of the ViscoRail software, developed for modeling railway tracks. The bituminous section’s behavior and response is modeled using a multilayer dynamic response model, implemented in the ViscoRail software. A good match between experimental and calculated results is highlighted.

scholarly journals Evaluation of X-Ray Residual Stress in High-Speed Heavy Cut Surfaces Using Machining Center.

2000 ◽  
Vol 49 (9) ◽  
pp. 963-969 ◽  
Author(s):  
Yasuo INOUE ◽  
Takeshi AMEMIYA ◽  
Kenji KASHIWAYA
Keyword(s):  
Residual Stress ◽  
High Speed ◽  
X Ray ◽  
Machining Center

Integrated optimal design of a high-speed planar parallel manipulator

2018 ◽  
Vol 233 (9) ◽  
pp. 2976-2990 ◽  
Author(s):  
Zhengsheng Chen ◽  
Minxiu Kong
Keyword(s):  
Optimal Design ◽  
Parallel Manipulator ◽  
High Speed ◽  
Design Method ◽  
Tracking Error ◽  
Dimensional Synthesis ◽  
Tracking Accuracy ◽  
Nsga Ii ◽  
Parameters Tuning ◽  
Planar Parallel Manipulator

To obtain excellent comprehensive performances of the planar parallel manipulator for the high-speed application, an integrated optimal design method, which integrated dimensional synthesis, motors/reducers selection, and control parameters tuning, is proposed, and the 3RRR parallel manipulator was taken as the example. The kinematic and dynamic performances of condition number, velocity index, acceleration capability, and low-order frequency are taken into accounts for the dimensional synthesis. Then, to match motors/reducers parameters and keep an economical cost, the constraint equations and the parameters library are built, and the cost is chosen as one of the optimization objectives. Also, to get high tracking accuracy, the dynamic forward plus proportional–derivative control scheme is introduced, and the tracking error is chosen as one of the optimization objectives. Hence, the optimization model including dimensional synthesis, motors/reducers selection and controller parameters tuning is established, which is solved by the genetic algorithm II (NSGA-II). The result shows that comprehensive performances can be effectively promoted through the proposed integrated optimal design, and the prototype was constructed according to the Pareto-optimal front.

Dynamic Hybrid Modeling of the Vertical Z Axis in a High-Speed Machining Center: Towards Virtual Machining

2007 ◽  
Vol 129 (4) ◽  
pp. 780-788 ◽  
Author(s):  
Giovanni Tani ◽  
Raffaele Bedini ◽  
Alessandro Fortunato ◽  
Claudio Mantega
Keyword(s):  
High Speed ◽  
Experimental Tests ◽  
Pneumatic System ◽  
Mechanical Structure ◽  
Virtual Machining ◽  
Feed Drive ◽  
Machining Center ◽  
Dynamic Hybrid ◽  
Five Axis ◽  
Machine Head

This paper describes the modeling and simulation of the Z axis of a five axis machining center for high-speed milling. The axis consists of a mechanical structure: machine head and electro-mandrel, a CNC system interfaced with the feed drive, and a pneumatic system to compensate for the weight of the vertical machine head. These subsystems were studied and modeled by means of: (1) finite element method modeling of the mechanical structure; (2) a concentrated parameter model of the kinematics of the axis; (3) a set of algebraic and logical relations to represent the loop CNC-Z feed drive; (4) an equation set to represent the functioning of the pneumatic system; and (5) a specific analytical model of the friction phenomena occurring between sliding and rotating mechanical components. These modeled subsystems were integrated to represent the dynamic behavior of the entire Z axis. The model was translated in a computer simulation package and the validation of the model was made possible by comparing the outputs of simulation runs with the records of experimental tests on the machining center. The firm which promoted and financed the research now has a virtual tool to design improved machine-tool versions with respect to present models, designed by traditional tools.

Trajectory Synthesis and Redundancy Resolution for High Speed Point to Point Motions of Redundant Robot Manipulators

1997 ◽  
Author(s):  
W. Kim ◽  
J. Rastegar
Keyword(s):  
High Speed ◽  
Degrees Of Freedom ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Dynamic Performance ◽  
High Harmonic ◽  
Harmonic Excitation ◽  
Redundancy Resolution ◽  
Tracking Accuracy ◽  
Point To Point

Abstract Trajectory synthesis for robot manipulators with redundant kinematic degrees-of-freedom has been studied by numerous investigators. Redundant manipulators are of interest since the redundant degrees-of-freedom can be used to improve the local and global kinematic and dynamic performance of a system. As a robot manipulator is forced to track a given trajectory, the required actuating torques (forces) may excite the natural modes of vibration of the system. Noting that manipulators with revolute joints have nonlinear dynamics, high harmonic excitation torques are generally generated even though such harmonics have been eliminated from the synthesized trajectories and filtered from the drive inputs. In this paper, a redundancy resolution method is developed based on the Trajectory Pattern Method (TPM) to synthesize trajectories such that the actuating torques required to realize them do not contain higher harmonic components with significant amplitudes. With such trajectories, a robot manipulator can operate at higher speeds and achieve higher tracking accuracy with suppressed residual vibration. As an example, optimal trajectories are synthesized for point to point motions of a plane 3R manipulator.

Sign in / Sign up

Export Citation Format

Share Document