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1 – 2 of 2Joonyoung Kim, Sung‐Rak Kim, Soo‐Jong Kim and Dong‐Hyeok Kim
The purpose of this paper is to maximize the speed of industrial robots by obtaining the minimum‐time trajectories that satisfy various constraints commonly given in the…
Abstract
Purpose
The purpose of this paper is to maximize the speed of industrial robots by obtaining the minimum‐time trajectories that satisfy various constraints commonly given in the application of industrial robots.
Design/methodology/approach
The method utilizes the dynamic model of the robot manipulators to find the maximum kinematic constraints that are used with conventional trajectory patterns, such as trapezoidal velocity profiles and cubic polynomial functions.
Findings
The experimental results demonstrate that the proposed method can decrease the motion times substantially compared with the conventional kinematic method.
Practical implications
Although the method used a dynamic model, the computational burden is minimized by calculating dynamics only at certain points, enabling implementation of the method online. The proposed method is tested on more than 40 different types of robots made by Hyundai Heavy Industries Co. Ltd (HHI). The method is successfully implemented in Hi5, a new generation of HHI robot controller.
Originality/value
The paper shows that the method is computationally very simple compared with other minimum‐time trajectory‐planning methods, thus making it suitable for online implementation.
Details
Keywords
Youshuang Ding, Xi Xiao, Xuanrui Huang and Jiexiang Sun
This paper aims to propose a novel system identification and resonance suppression strategy for motor-driven system with high-order flexible manipulator.
Abstract
Purpose
This paper aims to propose a novel system identification and resonance suppression strategy for motor-driven system with high-order flexible manipulator.
Design/methodology/approach
In this paper, first, a unified mathematical model is proposed to describe both the flexible joints and the flexible link system. Then to suppress the resonance brought by the system flexibility, a model based high-order notch filter controller is proposed. To get the true value of the parameters of the high-order flexible manipulator system, a fuzzy-Kalman filter-based two-step system identification algorithm is proposed.
Findings
Compared to the traditional system identification algorithm, the proposed two-step system identification algorithm can accurately identify the unknown parameters of the high order flexible manipulator system with high dynamic response. The performance of the two-step system identification algorithm and the model-based high-order notch filter is verified via simulation and experimental results.
Originality/value
The proposed system identification method can identify the system parameters with both high accuracy and high dynamic response. With the proposed system identification and model-based controller, the positioning accuracy of the flexible manipulator can be greatly improved.
Details