Impedance Control of High-Precision Geared Servo Drives with Two Motors for Technological Robots

Ilyukhin, Yu. V.; Kolesnichenko, Ruslan

doi:10.2507/26th.daaam.proceedings.081

Cited by 4 publications

(2 citation statements)

References 9 publications

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“…Another approach suggests implementing drives with two coordinately controlled motors [9,10], closed by position control loops of the manipulator links. Implementation of impedance control [11,12] allows us to increase dynamic stiffness of the drives and to damp oscillations in their mechanical subsystems. It is important to provide a research, which confirms the fact that this approach allows us to obtain high accuracy and stiffness of the robot with improved weight, size, energy and value indicators.…”

Section: Introductionmentioning

confidence: 99%

An Increase in Accuracy of Robotic Milling

Ilyukhin

Kolesnichenko

2017

AMM

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The results of the theoretical research and the computer simulation, aimed at increase in accuracy of robotic milling, are presented in the article. An analysis of the mathematical models of the system «technological robot – milling process» is conducted. The prospects of the usage of precision geared dual motor servo drives and trajectory-impedance control systems are underlined. A computer research of the tool movement accuracy during the robotic cylindrical up-milling process, depending on path velocity of the milling cutter and rated value of the cutting depth, has been carried out. Two types of manipulators have been considered: a manipulator with traditional geared servo drives with one motor and a manipulator with the suggested precision dual motor drives. In order to measure accuracy of movements during the computer simulation process a deviation of the tool, normal to the desired trajectory of its movement, has been defined. The results testify the facts that dual motor servo drives allow us to significantly increase dynamic stiffness of technological robots and they promote increasing accuracy and performance of robotic milling.

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Section: Introductionmentioning

confidence: 99%

An Increase in Accuracy of Robotic Milling

Ilyukhin

Kolesnichenko

2017

AMM

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“…The lower the pointing accuracy, the higher the beam divergence shall be, the more transmit power shall be used to provide the same communication speed. The aim of this work is to develop a laser terminal and PAT systems for the experimental laser communication testing between two or more mobile robots [6][7][8][9][10][11][12][13][14][15][16][17][18].…”

Section: Introductionmentioning

confidence: 99%

Laser Communications Prototyping for the Group of Mobile Robots

Pryanichnikov¹,

Stepanova²

2016

Proceedings of the 27th International DAAAM Symposium 2016

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Laser communications in case of a group of mobile robots communication in extreme conditions can be considered as an alternative or supplement to the radio. Thus, this work aims to develop a laser communication terminal for a mobile robot and with the particular focus on building the pointing, acquisition and tracking (PAT) system. During the present work, the idea of the laser terminal design was proposed based on the analysis of requirements and the model of data transmission between two mobile robots. The mathematical model of the PAT control system and stability analysis showed the feasibility of the design. A separate part of the work was also dedicated to the development of the robot orientation determination system and PAT stabilization system. The prototype and all necessary algorithms were implemented and the hardware and software were created. At this point, the laser terminal has been tested and has achieved acceptable performance of 5 degrees of accuracy under existing constraints. The paper was partially supported by the Russian Foundation for Basic Research, project No.

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