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 Quick, Precise, but not Cold
17.05.2017 | Fraunhofer-Institut für Lasertechnik ILT

nachricht A laser for divers
03.05.2017 | Laser Zentrum Hannover e.V.

All articles from Process Engineering >>>

The most recent press releases about innovation >>>

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

Im Focus: Fizzy soda water could be key to clean manufacture of flat wonder material: Graphene

Whether you call it effervescent, fizzy, or sparkling, carbonated water is making a comeback as a beverage. Aside from quenching thirst, researchers at the University of Illinois at Urbana-Champaign have discovered a new use for these "bubbly" concoctions that will have major impact on the manufacturer of the world's thinnest, flattest, and one most useful materials -- graphene.

As graphene's popularity grows as an advanced "wonder" material, the speed and quality at which it can be manufactured will be paramount. With that in mind,...

Im Focus: Exotic quantum states made from light: Physicists create optical “wells” for a super-photon

Physicists at the University of Bonn have managed to create optical hollows and more complex patterns into which the light of a Bose-Einstein condensate flows. The creation of such highly low-loss structures for light is a prerequisite for complex light circuits, such as for quantum information processing for a new generation of computers. The researchers are now presenting their results in the journal Nature Photonics.

Light particles (photons) occur as tiny, indivisible portions. Many thousands of these light portions can be merged to form a single super-photon if they are...

Im Focus: Circular RNA linked to brain function

For the first time, scientists have shown that circular RNA is linked to brain function. When a RNA molecule called Cdr1as was deleted from the genome of mice, the animals had problems filtering out unnecessary information – like patients suffering from neuropsychiatric disorders.

While hundreds of circular RNAs (circRNAs) are abundant in mammalian brains, one big question has remained unanswered: What are they actually good for? In the...

Im Focus: RAVAN CubeSat measures Earth's outgoing energy

An experimental small satellite has successfully collected and delivered data on a key measurement for predicting changes in Earth's climate.

The Radiometer Assessment using Vertically Aligned Nanotubes (RAVAN) CubeSat was launched into low-Earth orbit on Nov. 11, 2016, in order to test new...

Im Focus: Scientists shine new light on the “other high temperature superconductor”

A study led by scientists of the Max Planck Institute for the Structure and Dynamics of Matter (MPSD) at the Center for Free-Electron Laser Science in Hamburg presents evidence of the coexistence of superconductivity and “charge-density-waves” in compounds of the poorly-studied family of bismuthates. This observation opens up new perspectives for a deeper understanding of the phenomenon of high-temperature superconductivity, a topic which is at the core of condensed matter research since more than 30 years. The paper by Nicoletti et al has been published in the PNAS.

Since the beginning of the 20th century, superconductivity had been observed in some metals at temperatures only a few degrees above the absolute zero (minus...

All Focus news of the innovation-report >>>

Anzeige

Anzeige

Event News

Call for Papers – ICNFT 2018, 5th International Conference on New Forming Technology

16.08.2017 | Event News

Sustainability is the business model of tomorrow

04.08.2017 | Event News

Clash of Realities 2017: Registration now open. International Conference at TH Köln

26.07.2017 | Event News

 
Latest News

A Map of the Cell’s Power Station

18.08.2017 | Life Sciences

Engineering team images tiny quasicrystals as they form

18.08.2017 | Physics and Astronomy

Researchers printed graphene-like materials with inkjet

18.08.2017 | Materials Sciences

VideoLinks
B2B-VideoLinks
More VideoLinks >>>