Frequency reshaped quadratic control of a belt-driven robot

Lee, Kok-Meng; Rutherford, Chad

doi:10.1109/aim.1997.652994

Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics

DOI: 10.1109/aim.1997.652994

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Frequency reshaped quadratic control of a belt-driven robot

Kok-Meng Lee

Chad Rutherford

Abstract: Belt driven robots are desirable for many industrial applications that require a fast response for a relatively large amount of travel in a system. A belt drive is a simple, light weight device that is also cost effective in comparison to other methods of anii positioning. The tradeoff of a belt driven robot is the

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Precision Control of Belt Drives using Feed Forward Compensator under Acceleration and Velocity Constraints

Kwon¹

2009

Journal of the Korean Society of Marine Engineering

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：Numerous applications of position controlling devices using servoing technique and transmission of energy through belt drives are practiced in the industry. Belt drive is a simple, lightweight, low cost power transmission system. Belt drives provide freedom to position the motor relative to the load and this phenomenon enables reduction of the robot arm inertia. It also facilitates quick response when employed in robotics. In this paper, precision positioning of a belt driven mechanism using a feed-forward compensator under maximum acceleration and velocity constraints is proposed. The proposed method plans the desired trajectory and modifies it to compensate delay dynamics and vibration. Being an offline method, the proposed method could be easily and effectively adopted to the existing systems without any modification of the hardware setup. The effectiveness of the proposed method is demonstrated through computer simulation and experimental results.

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Precision Control of Belt Drives using Feed Forward Compensator under Acceleration and Velocity Constraints

Kwon¹

2009

Journal of the Korean Society of Marine Engineering

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Frequency reshaped quadratic control of a belt-driven robot

Cited by 1 publication

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Precision Control of Belt Drives using Feed Forward Compensator under Acceleration and Velocity Constraints

Precision Control of Belt Drives using Feed Forward Compensator under Acceleration and Velocity Constraints

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