Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

A Study on the Motion Analysis and Lead-Filter Design for High Speed/Accuracy Movement of Gantry Robot

갠트리 로봇의 고속/고정밀 이송을 위한 모션분석 및 앞섬필터 설계

  • Received : 2010.08.19
  • Accepted : 2010.11.16
  • Published : 2011.01.01
Download PDF
⟨ Previous Next ⟩

Abstract

Recently gantry-type robot with 3 axes rectangular coordinates have been studied in the many industrial production equipment and machinery fields. To acquire a good handling and motion performance of this robot, reducing the settling-time and securing the accurate-transfer positioning under high-speed conditions should be required. However when robot is moved in high-speed, the large inertia of robot can lead to serious vibration of robot's head. The time-delayed control characteristics of this robot can also lead to tracking error. In this research, the analysis of the effects of higher order positional-profile is carried out to assure high-speed performance and stiffness specifications. To remove the residual vibration caused by kinematic coupling effect of dual-servo gantry, we develop a dual-servo gantry of rotary type that moving frame of x-axis rotates about z-axis. In order to decrease the tracking error, the 3 type lead-filter through system identification was applied respectively. From the experimental results, it was shown that zero-order series leader-filter has the best performance about tracking error and settling time.

Keywords

References

  1. J. M. Rieber and D. G. Taylor, “Gain-scheduled L2-Gain based control of flexible parameter-varying robot link,” 27th Annual Conf. of the IEEE Industrial Electronics Society, pp. 552-557, 2001.
  2. S. S. Kim, “Synchronizing dual-drive gantry of chip mounter with LQR approach,” Proc. of IEEE/ASME International Conf., pp. 838-843, 2003.
  3. Roque Alfredo Osornio-Rios, “A implementation of higher degree polynomial acceleration profiles for peak jerk reduction in servomotors,” Robotics and Computer-Integrated Manufacturing 25, pp. 379-392, 2009. https://doi.org/10.1016/j.rcim.2008.01.002
  4. J. H. Kim, Control of Linear Motor by using the DSP, Dongil, 2003.
  5. M. Tomizuka, “Zero phase error tracking algorithm for digital control,” ASME J. Dyn. Syst., Meas., Control, vol. 109, pp. 65-68, Mar. 1987. https://doi.org/10.1115/1.3143822
  6. J. Wen and B. Potsaid, “An experimental study of a high performance, motion control system,” Proc. Amer. Control Conf., pp. 5158-5163, Jun. 2004.
  7. Zhu, Yucai, Multivariable System Identification; for Process Control, Elsevier Science, 2001.