Input design for optimal discrete time point-to-point motion of an industrial XY-positioning table

2002 ◽  
Author(s):  
B.G. Dijkstra ◽  
N.J. Rambaratsingh ◽  
C. Scherer ◽  
O.H. Bosgra ◽  
M. Steinbuch ◽  
...  
Keyword(s):  
Discrete Time ◽  
Input Design ◽  
Point Motion ◽  
Point To Point ◽  
Time Point

Optimal input design for a cooperating robot to reduce vibration when carrying flexible objects

Robotica ◽  
2001 ◽  
Vol 19 (2) ◽  
pp. 209-215 ◽  
Author(s):  
Young-Chun Ji ◽  
Youn-sik Park
Keyword(s):  
Optimal Control ◽  
Computational Method ◽  
Maximum Capacity ◽  
Optimal Input ◽  
Input Design ◽  
Point Motion ◽  
Optimal Input Design ◽  
Flexible Objects ◽  
Point To Point ◽  
Control Trajectory

This paper presents a computational method for obtaining an optimal control trajectory for point-to-point motion of a cooperating robot carrying a flexible object. To increase the overall productivity and its efficiency, it is required to move the object as fast as possible using the maximum capacity of actuators of robots. If the carrying object is very sensitive to vibration, the robots should be operated so as not to cause excessive vibration of that object. This work deals with optimal input design for cooperative robots to reduce vibration of flexible objects that are handled at speed, under firm constraints on control torques.

Experimental evaluation of time-varying impulse shaping with a two-link flexible manipulator

Robotica ◽  
1996 ◽  
Vol 14 (3) ◽  
pp. 339-345 ◽  
Author(s):  
Jung-Keun Cho ◽  
Youn-Sik Park
Keyword(s):  
Vibration Reduction ◽  
Vertical Plane ◽  
Joint Stiffness ◽  
Flexible Manipulator ◽  
Input Shaping ◽  
Time Varying ◽  
Modal Properties ◽  
Revolute Joints ◽  
Point Motion ◽  
Point To Point

SUMMARYIn the authors' previous paper,10 an input shaping method was presented to reduce motion-induced vibrations effectively for various classes of flexible systems. In this paper, the effectiveness of the shaping method is experimentally demonstrated with a two-link flexible manipulator systemThe manipulator for experiments includes two revolute joints and two flexible links, and moves on a vertical plane under gravity. An analytic model is developed considering the flexibility of the system and its joint stiffness in order to derive an appropriate estimation of dynamic modal properties. The input shaping method used in this work utilizes time-varying modal properties obtained from the model instead of the conventional input shaping method which employs time-invariant modal properties. A point-to-point motion is tested in order to show the effectivess of the proposed shaping method in vibration reduction during and after a given motion. The given reference trajectories are shaped to suppress the motion induced vibration. The test results demonstrate that the link vibration can be greatly suppressed during and after a motion, and the residual vibration reduction was observed more than 90% by employing this time-varying impulse shaping technique.

Kinematics Analysis and Motion Control of a Mobile Robot Driven by Three Tracked Vehicles

2018 ◽  
Author(s):  
Xin-Jun Liu ◽  
Zhao Gong ◽  
Fugui Xie ◽  
Shuzhan Shentu
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Degrees Of Freedom ◽  
Inverse Kinematic ◽  
Planning Method ◽  
Tracked Vehicles ◽  
Loop Control ◽  
Point Motion ◽  
Point To Point ◽  
Motion Mode

In this paper, a mobile robot named VicRoB with 6 degrees of freedom (DOFs) driven by three tracked vehicles is designed and analyzed. The robot employs a 3-PPSR parallel configuration. The scheme of the mechanism and the inverse kinematic solution are given. A path planning method of a single tracked vehicle and a coordinated motion planning of three tracked vehicles are proposed. The mechanical structure and the electrical architecture of VicRoB prototype are illustrated. VicRoB can achieve the point-to-point motion mode and the continuous motion mode with employing the motion planning method. The orientation precision of VicRoB is measured in a series of motion experiments, which verifies the feasibility of the motion planning method. This work provides a kinematic basis for the orientation closed loop control of VicRoB whether it works on flat or rough road.

Optimal Design Methodology of Point-to-Point Servo Systems for Minimization of Energy Consumption

1992 ◽  
Vol 206 (1) ◽  
pp. 35-43
Author(s):  
S W Kim ◽  
J S Park
Keyword(s):  
Design Methodology ◽  
Design Problems ◽  
Servo Systems ◽  
Speed Reduction ◽  
Point Motion ◽  
Actual Design ◽  
Profile Optimization ◽  
Point To Point ◽  
Selection Of

An optimum design methodology is presented for point-to-point motion control servo systems in which d.c. permanent magnetic motors are used as the main actuators. Emphasis is focused on establishing a series of comprehensive decision-making practices in dealing with three major design subjects: determination of the velocity profile, optimization of the speed reduction ratio, and selection of the motor. Finally, a practical design example is discussed to illustrate how the suggested design methodology may be applied to actual design problems.

Proportional intensities and strong ergodicity for Markov processes

1983 ◽  
Vol 20 (01) ◽  
pp. 185-190 ◽  
Author(s):  
Mark Scott ◽  
Dean L. Isaacson
Keyword(s):  
Markov Process ◽  
Markov Processes ◽  
Discrete Time ◽  
Continuous Time ◽  
Homogeneous Markov Process ◽  
Strong Ergodicity ◽  
Transition Functions ◽  
The Matrix ◽  
Intensity Functions ◽  
Time Point

By assuming the proportionality of the intensity functions at each time point for a continuous-time non-homogeneous Markov process, strong ergodicity for the process is determined through strong ergodicity of a related discrete-time Markov process. For processes having proportional intensities, strong ergodicity implies having the limiting matrix L satisfy L · P(s, t) = L, where P(s, t) is the matrix of transition functions.

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