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Study and Implementation of Industrial Robots Dynamic Controllers in Real-Time. Name: Núria Rosillo Guerrero Faculty: Computer Science Engineering Department: Mathematics Science and Computation . Universidad Cardenal Herrera CEU Halmstad, 10.03.14. PUMA 560 Architecture. Robot Arm.
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Study and Implementation of Industrial Robots Dynamic Controllers in Real-Time Name: Núria Rosillo Guerrero Faculty: Computer Science Engineering Department: Mathematics Science and Computation Universidad Cardenal Herrera CEU Halmstad, 10.03.14 Núria Rosillo Guerrero
PUMA 560 Architecture Robot Arm Control Wardrobe Original Architecture Núria Rosillo Guerrero
PUMA 560 Architecture Robot Arm Núria Rosillo Guerrero
PUMA 560 Architecture Control Wardrobe • Power Tray. • Control Panel. • Control Module. • I/O Module. • Amplifier Module. Núria Rosillo Guerrero
PUMA 560 Architecture Original Architecture ... Núria Rosillo Guerrero
PUMA 560 Architecture Original Architecture • LSI –11/02 Processor. • Digital Servos. • Analogical Servos. • Amplifiers. • Incremental encoders. • Potentiometers. ... Núria Rosillo Guerrero
PUMA 560 Architecture Original Architecture Núria Rosillo Guerrero
Opened Control Architecture ... Núria Rosillo Guerrero
Opened Control Architecture ... Núria Rosillo Guerrero
Opened Control Architecture • PCL-812. • PCL-833. • PCL-726. ... Núria Rosillo Guerrero
Opened Control Architecture ... Núria Rosillo Guerrero
Opened Control Architecture • Brake circuit • Original braking system. • Brake control by computer. Núria Rosillo Guerrero
Obtaining of Robots dynamic model by Gibbs-Appell formulation ... Núria Rosillo Guerrero
Obtaining of Robots dynamic model by Gibbs-Appell formulation Solve the Inverse Dynamic Problem Gibbs’s Function : Gibbs’s function for the solid i is given by ... Núria Rosillo Guerrero
Obtaining of Robots dynamic model by Gibbs-Appell formulation Solve the Inverse Dynamic Problem If we express the tensorial and vectorial magnitudes considering a reference system located in the iesim bar. For a system consisting of n bodies, Gibbs’s function could be given by: ... Núria Rosillo Guerrero
Obtaining of Robots dynamic model by Gibbs-Appell formulation Solve the Inverse Dynamic Problem The Gibbs-Appell’s movements equations are obtained leading respect to the generalized accelerations , of that way we obtain the inertial forces that correspond to the generalized external forces j Operating: ... Núria Rosillo Guerrero
Obtaining of Robots dynamic model by Gibbs-Appell formulation Complexity n algorism From D-H and off-line: With a recursive way: A term: B term: ... Núria Rosillo Guerrero
Obtaining of Robots dynamic model by Gibbs-Appell formulation Complexity n algorism ... Núria Rosillo Guerrero
Obtaining of Robots dynamic model by Gibbs-Appell formulation Direct Dynamic Problem Algorism that simulate the dynamic behavior of industrial robot. General form of the movement equation: Obtaining BIAS vector: Obtaining gravity vector: ... Núria Rosillo Guerrero
Obtaining of Robots dynamic model by Gibbs-Appell formulation Direct Dynamic Problem Obtaining the system inertias matrix. Núria Rosillo Guerrero
Movement simulation through the Dynamic Model qd q, v, a Controller Simulator Dynamic equation: DDP: IDP System to solve: ... Núria Rosillo Guerrero
Movement simulation through the Dynamic Model Results Núria Rosillo Guerrero
Control of manipulators Robots Development of a general expression to the controllers by passiveness and inverse dynamic = Mâ + C + G ... Núria Rosillo Guerrero
Control of manipulators Robots Control by passiveness The control based in the passiveness with point to point strategies can be seen as particular cases of this control law. We obtain the gravitational term a partir de: doing that and ... Núria Rosillo Guerrero
Control of manipulators Robots ... Núria Rosillo Guerrero
Control of manipulators Robots Control by passiveness ... Núria Rosillo Guerrero
Type of control over the trajectory a Point to point Follow-up of the trajectory Follow-up of the trajectory with integral action Control of manipulators Robots Control by inverse dynamic We start from this equation We will establish a control over the trajectory, calculating a of that way ... Núria Rosillo Guerrero
Control of manipulators Robots Control by inverse dynamic Núria Rosillo Guerrero
Reference Trajectories Ramp entry Natural cubic spline ... Núria Rosillo Guerrero
Reference Trajectories Fourier Series ... Núria Rosillo Guerrero
Conclusions Núria Rosillo Guerrero