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 Copper oxide photocathodes: laser experiment reveals location of efficiency loss
10.05.2019 | Helmholtz-Zentrum Berlin für Materialien und Energie

nachricht NIST research sparks new insights on laser welding
02.05.2019 | National Institute of Standards and Technology (NIST)

All articles from Process Engineering >>>

The most recent press releases about innovation >>>

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

Im Focus: Fraunhofer IDMT demonstrates its method for acoustic quality inspection at »Sensor+Test 2019« in Nürnberg

From June 25th to 27th 2019, the Fraunhofer Institute for Digital Media Technology IDMT in Ilmenau (Germany) will be presenting a new solution for acoustic quality inspection allowing contact-free, non-destructive testing of manufactured parts and components. The method which has reached Technology Readiness Level 6 already, is currently being successfully tested in practical use together with a number of industrial partners.

Reducing machine downtime, manufacturing defects, and excessive scrap

Im Focus: Successfully Tested in Praxis: Bidirectional Sensor Technology Optimizes Laser Material Deposition

The quality of additively manufactured components depends not only on the manufacturing process, but also on the inline process control. The process control ensures a reliable coating process because it detects deviations from the target geometry immediately. At LASER World of PHOTONICS 2019, the Fraunhofer Institute for Laser Technology ILT will be demonstrating how well bi-directional sensor technology can already be used for Laser Material Deposition (LMD) in combination with commercial optics at booth A2.431.

Fraunhofer ILT has been developing optical sensor technology specifically for production measurement technology for around 10 years. In particular, its »bd-1«...

Im Focus: The hidden structure of the periodic system

The well-known representation of chemical elements is just one example of how objects can be arranged and classified

The periodic table of elements that most chemistry books depict is only one special case. This tabular overview of the chemical elements, which goes back to...

Im Focus: MPSD team discovers light-induced ferroelectricity in strontium titanate

Light can be used not only to measure materials’ properties, but also to change them. Especially interesting are those cases in which the function of a material can be modified, such as its ability to conduct electricity or to store information in its magnetic state. A team led by Andrea Cavalleri from the Max Planck Institute for the Structure and Dynamics of Matter in Hamburg used terahertz frequency light pulses to transform a non-ferroelectric material into a ferroelectric one.

Ferroelectricity is a state in which the constituent lattice “looks” in one specific direction, forming a macroscopic electrical polarisation. The ability to...

Im Focus: Determining the Earth’s gravity field more accurately than ever before

Researchers at TU Graz calculate the most accurate gravity field determination of the Earth using 1.16 billion satellite measurements. This yields valuable knowledge for climate research.

The Earth’s gravity fluctuates from place to place. Geodesists use this phenomenon to observe geodynamic and climatological processes. Using...

All Focus news of the innovation-report >>>

Anzeige

Anzeige

VideoLinks
Industry & Economy
Event News

2nd International Conference on UV LED Technologies & Applications – ICULTA 2020 | Call for Abstracts

24.06.2019 | Event News

SEMANTiCS 2019 brings together industry leaders and data scientists in Karlsruhe

29.04.2019 | Event News

Revered mathematicians and computer scientists converge with 200 young researchers in Heidelberg!

17.04.2019 | Event News

 
Latest News

2nd International Conference on UV LED Technologies & Applications – ICULTA 2020 | Call for Abstracts

24.06.2019 | Event News

'Sneezing' plants contribute to disease proliferation

24.06.2019 | Agricultural and Forestry Science

Researchers find new mutation in the leptin gene

24.06.2019 | Life Sciences

VideoLinks
Science & Research
Overview of more VideoLinks >>>