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http://dx.doi.org/10.5302/J.ICROS.2011.17.1.31

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

Kim, Jin-Dae (Daegu Machinery Institute of Components & Materials)
Cho, Che-Seung (Daegu Machinery Institute of Components & Materials)
Lee, Hyuk-Jin (Yeungnam University)
Shin, Chan-Bai (Ulsan College)
Park, Chul-Hu (Daegu Machinery Institute of Components & Materials)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.17, no.1, 2011 , pp. 31-37 More about this Journal
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
gantry-type robot; high speed/accuracy motion; head's residual vibration; time delay; analysis of positional-profile; tracking error; system identification; lead-filter;
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