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Study and Implementation of Industrial Robots Dynamic Controllers in Real-Time

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, 31.05.14. PUMA 560 Architecture. Robot Arm.

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Study and Implementation of Industrial Robots Dynamic Controllers in Real-Time

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  1. 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, 31.05.14 Núria Rosillo Guerrero

  2. PUMA 560 Architecture Robot Arm Control Wardrobe Original Architecture Núria Rosillo Guerrero

  3. PUMA 560 Architecture Robot Arm Núria Rosillo Guerrero

  4. PUMA 560 Architecture Control Wardrobe • Power Tray. • Control Panel. • Control Module. • I/O Module. • Amplifier Module. Núria Rosillo Guerrero

  5. PUMA 560 Architecture Original Architecture ... Núria Rosillo Guerrero

  6. PUMA 560 Architecture Original Architecture • LSI –11/02 Processor. • Digital Servos. • Analogical Servos. • Amplifiers. • Incremental encoders. • Potentiometers. ... Núria Rosillo Guerrero

  7. PUMA 560 Architecture Original Architecture Núria Rosillo Guerrero

  8. Opened Control Architecture ... Núria Rosillo Guerrero

  9. Opened Control Architecture ... Núria Rosillo Guerrero

  10. Opened Control Architecture • PCL-812. • PCL-833. • PCL-726. ... Núria Rosillo Guerrero

  11. Opened Control Architecture ... Núria Rosillo Guerrero

  12. Opened Control Architecture • Brake circuit • Original braking system. • Brake control by computer. Núria Rosillo Guerrero

  13. Obtaining of Robots dynamic model by Gibbs-Appell formulation ... Núria Rosillo Guerrero

  14. 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

  15. 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

  16. 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

  17. 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

  18. Obtaining of Robots dynamic model by Gibbs-Appell formulation Complexity n algorism ... Núria Rosillo Guerrero

  19. 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

  20. Obtaining of Robots dynamic model by Gibbs-Appell formulation Direct Dynamic Problem Obtaining the system inertias matrix. Núria Rosillo Guerrero

  21. Movement simulation through the Dynamic Model qd  q, v, a Controller Simulator Dynamic equation: DDP: IDP System to solve: ... Núria Rosillo Guerrero

  22. Movement simulation through the Dynamic Model Results Núria Rosillo Guerrero

  23. Control of manipulators Robots Development of a general expression to the controllers by passiveness and inverse dynamic  = Mâ + C + G ... Núria Rosillo Guerrero

  24. 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

  25. Control of manipulators Robots ... Núria Rosillo Guerrero

  26. Control of manipulators Robots Control by passiveness ... Núria Rosillo Guerrero

  27. 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

  28. Control of manipulators Robots Control by inverse dynamic Núria Rosillo Guerrero

  29. Reference Trajectories Ramp entry Natural cubic spline ... Núria Rosillo Guerrero

  30. Reference Trajectories Fourier Series ... Núria Rosillo Guerrero

  31. Conclusions Núria Rosillo Guerrero

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