A study on tracking error based on mechatronics model of a 5-DOF hybrid spray-painting robot

Wu, Jun; Liu, Zilin; Yu, Guang; Song, Yuyao

doi:10.1007/s12206-022-0835-x

Cited by 8 publications

(2 citation statements)

References 32 publications

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“…Wu et al developed an accurate model of a 5-degree-of-freedom hybrid painting robot based on Lagrange's equation and the principle of friction discrimination. They then designed a multichannel feedforward controller to compensate for the trajectory tracking errors from different sources [29]. Other scholars have proposed other solutions [30][31][32].…”

Section: Introductionmentioning

confidence: 99%

Kinematic calibration and feedforward control of a heavy-load manipulator using parameters optimization by an ant colony algorithm

Wang,

Xie,

Jiang

et al. 2024

Robotica

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Most of the currently available three-degree-of-freedom manipulators are light load and cannot achieve full continuous rotation; given this, we designed a heavy-load manipulator that achieves unrestricted and continuous rotation. Due to manufacturing and assembly errors, parameter deviations between the real manipulator and its underlying theoretical model were unavoidable. Because of the lack of high-precision, high-frequency, and real-time closed-loop detection methods, we proposed a type of kinematics calibration of parameterized ant colony optimization and feedforward control methods. This was done to achieve high-precision motion control. First, an error model combining structural parameters and joint output angles was established, and the global sensitivity of each error source was analyzed to distinguish both primary and secondary sources. Based on the measured data of a laser tracker, the ant colony optimization was then used to identify six error sources. This resulted in both link length and joint driving errors of the designed manipulator. As it is a type of systematic error, the rounding error of the theoretical trajectory was carefully analyzed, and feedforward control methods with different coefficients were designed to further improve positioning accuracy based on the kinematic calibration. Experimental results showed that the proposed kinematic calibration and feedforward control methods achieved relatively precise motion control for the designed manipulator.

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Section: Introductionmentioning

confidence: 99%

Kinematic calibration and feedforward control of a heavy-load manipulator using parameters optimization by an ant colony algorithm

Wang,

Xie,

Jiang

et al. 2024

Robotica

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show abstract

“…Error is an important factor in the research of mechanical equipment development, mechanism performance analysis and robot engineering, and many studies have been carried out in this regard (Wu et al, 2013(Wu et al, , 2022Ye et al, 2023). Gear transmission meshing performances are one of the most important research topics in gear transmission, and the installation error is one of the important factors of the meshing performance of the gear transmission system (Liu et al, 2023).…”

Section: Introductionmentioning

confidence: 99%

Study on the contact performance of the variable hyperbolic circular arc tooth trace cylindrical gear with installation errors

Ma,

Jiang,

Bao

et al. 2024

Mech. Sci.

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Abstract. Installation errors are important factor for the contact performance of the variable hyperbolic circular arc tooth trace (VH-CATT) cylindrical gear; the study of the relationship between installation errors and contact performances is beneficial for gear vibration and noise reduction. Firstly, based on the meshing theory, the tooth surface equation and contact ellipse of the VH-CATT cylindrical gear were deduced, and the tooth surface imprinting experiment was realized. Next, the tooth contact analysis model of the VH-CATT cylindrical gear was developed to investigate the influence of the installation errors on the elliptical contact area. Then, the calculation formulas of the tooth surface gap and contact point flexibility matrix were carried out to develop the load tooth contact analysis model of the VH-CATT cylindrical gear. Finally, the influence of the installation errors on the load distribution was investigated. Research shows that the elliptical contact area of the VH-CATT cylindrical gear is a line contact within a certain range and is located in the middle section of the tooth width. The elliptical contact area of the VH-CATT cylindrical gear increases or decreases rapidly when meshing in and out, and all the installation errors have a certain influence on the elliptical contact area, except for the center distance error. The single-tooth meshing area with the installation errors is greater than that of the ideal gear pair. The load distribution area with the installation errors deviates from the middle section, except for the center distance error. The installation rotation errors around the x and y axis have a certain influence on the maximum load of the single-tooth meshing area. The research results provide a basis for improving the bearing capacity of the VH-CATT cylindrical gear and optimizing the design.

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Simple adaptive contouring control for feed drive systems using jerk-based augmented output signal

Nyobuya,

Halinga,

Uchiyama

2024

Int J Adv Manuf Technol

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Reducing energy consumption while maintaining high contouring accuracy for industrial machinery is a highly desirable goal. Simple adaptive control (SAC) is a practical technique that can achieve high tracking accuracy and energy saving by adjusting control parameters in real-time to ensure that the system responds as the reference model. Implementation of the SAC technique requires that the "almost strict property real (ASPR)" property is satisfied. The ASPR property guarantees the stability of the controlled system even when adaptive gains are high. This paper proposes simple adaptive contouring control (SACC) using jerk-based augmented output signal for the ASPR property. SACC is designed by following the tangent-contour control scheme while using the SAC technique to enhance the contouring accuracy. Jerk-based augmented output signal ensures that the ASPR property is met and allows the SACC to track accurately the desired contour at high frequency. The proposed contouring approach achieves lower contour error and energy consumption by about 45%, and 3% respectively, as compared to the most common parallel feedforward compensation approach.

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A study on tracking error based on mechatronics model of a 5-DOF hybrid spray-painting robot

Cited by 8 publications

References 32 publications

Kinematic calibration and feedforward control of a heavy-load manipulator using parameters optimization by an ant colony algorithm

Kinematic calibration and feedforward control of a heavy-load manipulator using parameters optimization by an ant colony algorithm

Study on the contact performance of the variable hyperbolic circular arc tooth trace cylindrical gear with installation errors

Simple adaptive contouring control for feed drive systems using jerk-based augmented output signal

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