Modelling and Control of Mechatronic and Robotic Systems

Gasparetto, Alessandro; Seriani, Stefano; Scalera, Lorenzo

doi:10.3390/app11073242

Cited by 4 publications

(3 citation statements)

References 26 publications

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“…Permanent-magnet synchronous motors of interest in mechatronic applications, where it is required to solve the cogging torque problem, are to date three-phase motors, so the following are the fundamental points of modeling for three-phase machines [28,29]. Note that the dynamic model is formally unchanged whether the machines have radial magnetic flux or axial magnetic flux.…”

Section: Synchronous Motor Modeling Including Cogging Torquementioning

confidence: 99%

Review on Model Based Design of Advanced Control Algorithms for Cogging Torque Reduction in Power Drive Systems

Dini

Saponara

2022

Energies

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This review of the state of the art aims to collect the description and main research results in the field of development and validation of control algorithms with the main purpose to solve the problem of cogging torque and main sources of electromagnetic torque ripple. In particular, we focus on electric drives for advanced and modern mechatronic applications such as industrial automation, robotics, and automotive applications, with special emphasis on work that exploits model-based design. A great added value of this paper is to explicitly show the operational steps required for the model-based design design of optimized control algorithms for electric drives where it is necessary to make up for electromagnetic torque oscillations due to the main sources of ripple, particularly cogging torque. The ultimate goal of this paper is to provide researchers approaching this particular problem with a comprehensive collection of the most effective solutions reported in the state of the art and also a summary for effectively applying the model-based design methodology.

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Section: Synchronous Motor Modeling Including Cogging Torquementioning

confidence: 99%

Review on Model Based Design of Advanced Control Algorithms for Cogging Torque Reduction in Power Drive Systems

Dini

Saponara

2022

Energies

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“…Nowadays, the modeling and control of mechatronic and robotic systems is an open and challenging field of investigation in both industry and academia. The mathematical model of a mechanical system is indeed fundamental for the development of experimental prototypes [79]. On the other side, optimal trajectory planning of industrial robots in the assembly line is a key topic to boost productivity in a variety of manufacturing tasks [80].…”

Section: Introductionmentioning

confidence: 99%

Perspective Chapter: Fabulous Design Speed Industrial Robotic Arm

Alkhafaji¹

2023

Human-Robot Interaction - Perspectives and Applications

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This chapter focuses on the design of a handling 5 Degree of freedom (DOF) robot arm model for industrial application. Optimal trajectory planning of industrial robots in the assembly line is a key topic to boost productivity in a variety of manufacturing activities. The aim is to improve the speed performance using multi techniques starting from estimating the transfer function of each manipulated joint, then designing the controller for each DOF reached to modeling arm motion. The designed model has been developed the structural design and testing motion characteristics by using SolidWorks and Simscape toolbox. To enhance the speed performance, it is proposed a High-Speed Proportional Integral Derivative controller (HSPID) based on an improved GA. The comparison response time between uncontrolled and controlled systems proves that the proposed controller produced extreme reduction responses to be measured within the Microsecond unit. Based on trajectory motion, the efficiency of the proposed method is assured by case study motions. The innovative design offers the best solution to rise accurate performance and productivity.

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“…In modern times, mechatronic and robotic systems are developing at a faster pace than in the past [1], and research on novel solutions and applications of such devices are studied in both industrial and academic environments [2]. The modelling and control of mechatronic and robotic systems is a fundamental field of investigation, especially within the context of Industry 4.0, in which novel scenarios for manufacturing processes and production lines are strictly related to the implementation of robots, automatic machines, and cyber-physical systems.…”

Section: Introductionmentioning

confidence: 99%