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http://dx.doi.org/10.5916/jkosme.2009.33.5.713

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

Kwon, Sei-Hyun (한중대학교 컴퓨터공학과)
Publication Information
Journal of Advanced Marine Engineering and Technology / v.33, no.5, 2009 , pp. 713-720 More about this Journal
Abstract
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.
Keywords
Belt drives; Precision control; Velocity and acceleration constraints; Feed-forward compensator;
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