Name
Abstract | ||
|---|---|---|
Most industrial robots are still controlled with motor-side feedback. To increase the accuracy of industrial robots, controllers with joint-side feedback and explicit consideration of the joint elasticity, such as linearization-based controllers, are needed. The key issue for the performance of linearization-based controllers is a high-fidelity model. Today, the drivetrains installed in the joints of industrial robots of the high payload class usually consist of a permanent magnet synchronous machine and a cycloidal drive. Such robot joints are highly nonlinear due to effects like hysteresis, torque ripples and friction. Therefore, the drivetrain dynamics are crucial for the experimental performance of linearization-based controllers for industrial robots. This paper identifies the challenges in linearization-based control of industrial robots with such a drivetrain configuration based on experimental results on a KUKA KR-210-2. Using an exemplary approach, it is shown that a linearization-based controller does not provide the theoretical performance due to needed model simplifications. For this purpose, simulation and experimental results are compared to a linear robot controller with motor-side feedback. These results indicate why such controllers are still a valid alternative for the practical application of similar industrial robots. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1109/ICM46511.2021.9385627 | 2021 IEEE International Conference on Mechatronics (ICM) |
Keywords | DocType | ISBN |
Motion Control,Flexible Joint Robot,Permanent Magnet Machine | Conference | 978-1-7281-4443-6 |
Citations | PageRank | References |
1 | 0.36 | 0 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Patrick Mesmer | 1 | 2 | 1.39 |
| Michael Neubauer | 2 | 3 | 1.07 |
| Armin Lechler | 3 | 2 | 2.79 |
| Alexander Verl | 4 | 167 | 50.15 |