Publication

High Precision Robotic Arm Control Using Frequency-Based Data-Driven Methods

2024

Abstract

Next-generation motion control systems require fast and precise control. However, advanced control strategies often rely on complex and costly system models.Data-driven methods have been proposed to design high-performance controllers without requiring a parametric model of the system. In particular, methods using frequency response functions (FRFs) have been widely applied to mechatronic systems due to their good performance, and the industry's familiarity with obtaining FRFs.This paper applies a recently developed method to design a controller for an industrial robotic arm with three degrees of freedom, using only the FRF of the robot around different operating points. Focused on motion control, the objective is to attain the desired tracking performance through the design of a linear-parameter-varying (LPV) two-degree-of-freedom (2DoF) controller. Performance is further improved by tuning an additional filter to compensate for inaccuracies in the transmission.

Official source

https://infoscience.epfl.ch/entities/publication/e8248932-2edb-4a71-9be1-9cc26238760d

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2024

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/e8248932-2edb-4a71-9be1-9cc26238760d

About this result

Related concepts (32)

Industrial robot

An industrial robot is a robot system used for manufacturing. Industrial robots are automated, programmable and capable of movement on three or more axes. Typical applications of robots include welding, painting, assembly, disassembly, pick and place for printed circuit boards, packaging and labeling, palletizing, product inspection, and testing; all accomplished with high endurance, speed, and precision. They can assist in material handling.

Robotic arm

A robotic arm is a type of mechanical arm, usually programmable, with similar functions to a human arm; the arm may be the sum total of the mechanism or may be part of a more complex robot. The links of such a manipulator are connected by joints allowing either rotational motion (such as in an articulated robot) or translational (linear) displacement. The links of the manipulator can be considered to form a kinematic chain. The terminus of the kinematic chain of the manipulator is called the end effector and it is analogous to the human hand.

Frequency response

In signal processing and electronics, the frequency response of a system is the quantitative measure of the magnitude and phase of the output as a function of input frequency. The frequency response is widely used in the design and analysis of systems, such as audio and control systems, where they simplify mathematical analysis by converting governing differential equations into algebraic equations.

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High Precision Robotic Arm Control Using Frequency-Based Data-Driven Methods

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