Vibration control of industrial robot arms by multi-mode time-varying input shaping

Thomsen, Dan Kielsholm; Søe-Knudsen, Rune; Balling, Ole; Zhang, Xuping

doi:10.1016/j.mechmachtheory.2020.104072

Cited by 48 publications

(13 citation statements)

References 30 publications

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“…The parameters were then substituted in Equation () to obtain the ISC control gains. This ISC formulation has been applied for vibration control of other systems, such as machining (Kasprowiak et al, 2022), pick‐and‐place parallel robots (Shan et al, 2022), and industrial robot arms (Thomsen et al, 2021).

\begin{array}{l} ([], \begin{array}{c} A_{i} \\ t_{i} \end{array}) goodbreak= ([], \begin{array}{c} \frac{1}{1 + k} & \frac{k}{1 + k} \\ 0 & τ_{d} \end{array}) \\ τ_{d} goodbreak= \frac{π}{ω \sqrt{(1 - ζ^{2})}}; k goodbreak= e^{\frac{- πζ}{\sqrt{(1 - ζ^{2})}}} \end{array}

…”

Section: Methodsmentioning

confidence: 99%

Hybrid input shaping and fuzzy logic‐based position and oscillation control of tower crane system

Alhassan,

Assawinchaichote,

Zhang

et al. 2023

Expert Systems

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Effective control of the tower crane system (TCS) is crucial for the safe and quick transport of goods from one point to another in industries and construction sites. However, the existing literature either depends on the dynamic model of the system, which is prone to errors and assumptions, or requires the feedback of the states to be controlled, which can be costly and or complex. In particular, the TCS has many states and is highly nonlinear. Thus, a non‐model‐based control approach that depends on minimal feedback sensors is needed. The primary contribution of this work is that the potential hybrid configurations of the input shaping control (ISC) and fuzzy logic control (FLC) were proposed and investigated. The study provides the best hybrid configuration of the ISC and FLC (non‐model‐based controllers) for optimal positioning and anti‐swing control of the TCS. Three configurations of the ISC + FLC, namely shaper as reference input (SARI), shaper as input to the FLC (SAI2F), and shaper as input to the plant (SAI2P) were investigated to assess the optimal hybrid configuration of the ISC + FLC. The results demonstrated that the hybrid ISC + FLC scheme had improved the response of ISC by at least 150% and enhanced the oscillation reduction of FLC by 72%. Finally, these analyses showed that the ISC + FLC could achieve reasonable control of the tower crane by only considering the output of one state (position). This makes the control scheme cheaper and reduces the complexity and computational time compared to other full‐state feedback controllers.

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\begin{array}{l} ([], \begin{array}{c} A_{i} \\ t_{i} \end{array}) goodbreak= ([], \begin{array}{c} \frac{1}{1 + k} & \frac{k}{1 + k} \\ 0 & τ_{d} \end{array}) \\ τ_{d} goodbreak= \frac{π}{ω \sqrt{(1 - ζ^{2})}}; k goodbreak= e^{\frac{- πζ}{\sqrt{(1 - ζ^{2})}}} \end{array}

…”

Section: Methodsmentioning

confidence: 99%

Hybrid input shaping and fuzzy logic‐based position and oscillation control of tower crane system

Alhassan,

Assawinchaichote,

Zhang

et al. 2023

Expert Systems

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“…Outros motivadores para designs leves incluem aumento da velocidade operacional, custo reduzido e consumo de energia reduzido, o que se torna cada vez mais importante com mais robôs móveis operados por bateria. Dessa forma procura-se um equilíbrio entre baixa massa e robustez (THOMSEN et al, 2021).…”

Section: Automação De Forno Elétrico Para a Deposição De Filmes Finos...unclassified

Automação De Forno Elétrico Para a Deposição De Filmes Finos Pela Técnica De Spray-Pirólise

Bezerra¹,

Almeida²,

Freire³

et al. 2022

Proceedings of the L Brasilian Congress of Engineering Education

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A forte presença da automação nos processos industriais traz uma oportunidade de aprimorar e otimizar processos de fabricação tradicionalmente manuais, mais especificamente os laboratoriais. Por meio de equipamentos que executem tarefas preordenadas e repetitivas é possível reduzir a ocorrência de erros humanos e contribuir para a segurança dos operadores, evitando o contato deles com produtos nocivos à saúde. Atualmente existem pesquisas para o desenvolvimento de sistemas fotovoltaicos mais baratos, entre elas, a célula de Grätzel, conhecida também como célula solar fotoquímica, ou célula solar nanocristalina sensibilizada por corante (CSNS). Elas são fabricadas por meio de um processo realizado de forma tradicionalmente manual, conhecido como spray-pirólise. A proposta deste trabalho é realizar a automação desse processo de spray de forma que os movimentos repetitivos realizados pelo operador manual sejam feitos por um braço robótico pré-programado. Inicialmente foi escolhida uma configuração de braço robótico e as suas características, sendo selecionado o do tipo articulado. FOi desenvolvido um código de programação na plataforma Arduino para permitir o controle do braço por meio de um smartphone. O braço foi modelado em um software de simulação 3d e e suas partes foram fabricadas por meio de impressão 3d. Após a fabricação, foi realizada sua montagem e espera-se instalar o braço em uma câmara de aquecimento utilizada no processo de spray pirólise para produção de placas fotovoltaicas.

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“…Generally, open-loop applications cannot provide the desired level of control for flexible systems [21]. Especially depending on the configuration of the system, a more complex control system is needed due to the change of some parameters such as damping or natural frequency [22]. PID [23,24], LQR [25,26], and Fuzzy [27] controllers are used to control the flexible systems.…”

Section: Introductionmentioning

confidence: 99%

Cascade Proportional Derivative Controller For A Flexible Link Robot Manipulator Using The Bees Algorithm

GÜMÜŞ

Çakan

Kalyoncu

2023

Academic Platform Journal of Engineering and Smart Systems

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In this study, a flexible robot arm model and the design of its controller are introduced. The robot arm consists of a single flexible link. It is desired to control the circular position of the robot arm and the vibration of the tip point. Cascade proportional derivative controller was used to control the position and reduce the tip vibration. Controller gains were found using the bees algorithm. The weighted function of system responses such as settling time, maximum overshoot, steady-state error is used as a performance criterion while searching for the best parameters. In addition, controller gains were obtained with the genetic algorithm to evaluate the working performance of the bees algorithm. It has been observed that the Cascade PD controller, whose gains are optimized by the bees algorithm, successfully controls the flexible robot arm system and reduces the vibration of the tip point.

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Vibration control of industrial robot arms by multi-mode time-varying input shaping

Cited by 48 publications

References 30 publications

Hybrid input shaping and fuzzy logic‐based position and oscillation control of tower crane system

Hybrid input shaping and fuzzy logic‐based position and oscillation control of tower crane system

Automação De Forno Elétrico Para a Deposição De Filmes Finos Pela Técnica De Spray-Pirólise

Cascade Proportional Derivative Controller For A Flexible Link Robot Manipulator Using The Bees Algorithm

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