Forum for Science, Industry and Business

Sponsored by:     3M 
Search our Site:

 

New methods to improve the behaviour of industrial robots

16.03.2004


Member of the Department of Electrical and Electronic Engineering at the Public University of Navarre, Jesús Mª Corres Sanz, has suggested a new method which enables, amongst other applications, response enhancement to perturbations in electrical machines such as those experienced by an electric vehicle. These techniques, moreover, can be applied to any type of industrial robot.

In this thesis the design of velocity observers and perturbation par is studied for their application to mechatronic systems incorporating encoders as a position sensor. The observers are follow-up algorithms. This is an interesting topic from the point of view of applications in the industrial area. Specifically, it can be applied in the field of any kind of robot-machines, lasers for shaping parts, etc.

The research initiated with a review of the principal literature that existed on the theme. In order to do this, Jesús Mª Corres approached the first, theoretical section from two angles: firstly, he suggested modifying the Kalman filter in order to reduce the effect of the quantification of the digital position transducer.



Regarding the second approach, the observers obtained are characterised for providing estimates with a guaranteed margin of error, which in many cases is information more useful for system design than for statistical approximation. It is precisely this second part, called “guaranteed limits”, that is one of the most novel chapters in the thesis given that, in this area, no applications have been made in this area.

Digital processing card

The behaviour of these proposed algorithms was tested in the final part of the research project, by means of its implementation in a vector control system of the induction machine and based on a Digital Signal Processor, designed for this – a DSP-based card to test the proposed algorithms with the induction machine was developed to this end.

The result was initially applied on the testing pad at the university and now it is to be applied to a real robot.

The practical applications of the research are many. Thus, in an electric vehicle, the use of thus system permits the suppression of vibrations which these produce. Moreover, road surface adherence can also be estimated for a vehicle of these characteristics and its route. Other applications for the system are robotics, wind turbines, sheet metal production, or the suppression of vibrations in a lift, amongst others.

In order to apply the proposed techniques it is only necessary for the measurement of the angular position of the machine axis be carried out by a digital encoder; this is the case in those machines for which precision and robustness are important, such as machines with numerical control or robots.

Moreover, the research report concludes, the two lines of investigation do not contradict each other, but complement each other, and their application depends on the model of perturbations that each system in concrete might have. Thus, the statistical approximation handles more information and, concomitantly, provides more precise estimations. In this way the operating range of the movement controller range at very low speeds can be extended, enhancing the rapidity of response of external perturbations. Regarding the statistical approximation, there is the advantage of enabling a more direct method of expressing the uncertainties in entries and exits from the viewpoint of a control system designer.

Contact :
Iñaki Casado Redin
Nafarroako Unibertsitate Publikoa
inaki.casado@unavarra.es
(+34) 948 16 97 82

Garazi Andonegi | Basque research
Further information:
http://www.basqueresearch.com/berria_irakurri.asp?Gelaxka=1_1&Berri_Kod=433&hizk=I
http://www.unavarra.es

More articles from Process Engineering:

nachricht Dresdner scientists print tomorrow’s world
08.02.2017 | Fraunhofer-Institut für Werkstoff- und Strahltechnik IWS

nachricht New technology for mass-production of complex molded composite components
23.01.2017 | Evonik Industries AG

All articles from Process Engineering >>>

The most recent press releases about innovation >>>

Die letzten 5 Focus-News des innovations-reports im Überblick:

Im Focus: Breakthrough with a chain of gold atoms

In the field of nanoscience, an international team of physicists with participants from Konstanz has achieved a breakthrough in understanding heat transport

In the field of nanoscience, an international team of physicists with participants from Konstanz has achieved a breakthrough in understanding heat transport

Im Focus: DNA repair: a new letter in the cell alphabet

Results reveal how discoveries may be hidden in scientific “blind spots”

Cells need to repair damaged DNA in our genes to prevent the development of cancer and other diseases. Our cells therefore activate and send “repair-proteins”...

Im Focus: Dresdner scientists print tomorrow’s world

The Fraunhofer IWS Dresden and Technische Universität Dresden inaugurated their jointly operated Center for Additive Manufacturing Dresden (AMCD) with a festive ceremony on February 7, 2017. Scientists from various disciplines perform research on materials, additive manufacturing processes and innovative technologies, which build up components in a layer by layer process. This technology opens up new horizons for component design and combinations of functions. For example during fabrication, electrical conductors and sensors are already able to be additively manufactured into components. They provide information about stress conditions of a product during operation.

The 3D-printing technology, or additive manufacturing as it is often called, has long made the step out of scientific research laboratories into industrial...

Im Focus: Mimicking nature's cellular architectures via 3-D printing

Research offers new level of control over the structure of 3-D printed materials

Nature does amazing things with limited design materials. Grass, for example, can support its own weight, resist strong wind loads, and recover after being...

Im Focus: Three Magnetic States for Each Hole

Nanometer-scale magnetic perforated grids could create new possibilities for computing. Together with international colleagues, scientists from the Helmholtz Zentrum Dresden-Rossendorf (HZDR) have shown how a cobalt grid can be reliably programmed at room temperature. In addition they discovered that for every hole ("antidot") three magnetic states can be configured. The results have been published in the journal "Scientific Reports".

Physicist Dr. Rantej Bali from the HZDR, together with scientists from Singapore and Australia, designed a special grid structure in a thin layer of cobalt in...

All Focus news of the innovation-report >>>

Anzeige

Anzeige

Event News

Booth and panel discussion – The Lindau Nobel Laureate Meetings at the AAAS 2017 Annual Meeting

13.02.2017 | Event News

Complex Loading versus Hidden Reserves

10.02.2017 | Event News

International Conference on Crystal Growth in Freiburg

09.02.2017 | Event News

 
Latest News

Stingless bees have their nests protected by soldiers

24.02.2017 | Life Sciences

New risk factors for anxiety disorders

24.02.2017 | Life Sciences

MWC 2017: 5G Capital Berlin

24.02.2017 | Trade Fair News

VideoLinks
B2B-VideoLinks
More VideoLinks >>>