Motion Control for Intelligent Automation. Preprints of the by A. De Carli, E. Masada

By A. De Carli, E. Masada

Movement keep watch over is a quickly evolving subject, with a variety of functions, specifically in robotics. pace and place keep an eye on of a mechanical approach has regularly been one of many major difficulties in computerized regulate, because the call for raises for complex degrees of accuracy and dynamics. The examine of movement regulate goals to mix theoretical ways with the belief of mechanical platforms characterised through excessive degrees of functionality. The IFAC workshop all for the evolution of: mechanical platforms modelling; keep watch over thoughts; clever instrumentation; committed microprocessor units, and new fields of software

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Additional info for Motion Control for Intelligent Automation. Preprints of the IFAC Workshop, Perugia, Italy, 27–29 October 1992

Sample text

2). The S-U method which makes use in all cases of two frames of reference per link and seven parameters to describe the situation of each link relative to an adjacent one turns out to be highly redundant for mechanisms with simple chain structures. The EOM possesses n«. end effectors and hence nc chains. A chain is made up of a succession of links and joints connecting the mount to an end effector These chains are arbitrarily numbered from 1 to r^. It can be noted that a link can belong to several chains.

3. New geometric parameters • γΐ is the angle formed by the projection of fj_ x , on to the plane (*(_i »£{_,) with axis $j_j measured around axis ή_χ. 2. 2 one has c\=c\=c\=c\ as C\=C\ and c\=c\. as well This type of numbering is interesting since link OJ+1 is then preceded by link c{. For any given j (j=1 ,η«,) the f1 chain behaves as a simple chain structure whose links are numbered by the subscript. Thus if the initial mechanism utilizes a simple chain structure one gets ης = 1 and one may delete the superscript, the link numbering being that regularly used with the D-Hm method.

Eleventh IFAC World Congress 1990, Tallinn/GUS, S. 215-224 (2) Figure 17 shows the dynamic behaviour for such a system in comparison. State space control and Fuzzy control are compared for a variation of the reference value of the web-force F 23 between the processing stations 2 and 3. Due to the variation of the reference value of the web-force the real value will follow with an overshot, when cascaded control is used. But the best result is obtained with Fuzzycontrol . ' [3] If the speed of the production process is varied, this results in a dynamic variation of the web-force.

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