Study and Implementation of Industrial Robots Dynamic Controllers in RealTime

1
Study and Implementation of Industrial Robots
Dynamic Controllers in Real-Time
Name Núria Rosillo Guerrero Faculty Computer
Science Engineering Department Mathematics
Science and Computation
Universidad Cardenal Herrera CEU Halmstad,
05.09.09
2
PUMA 560 Architecture
 
Robot Arm
Control Wardrobe
Original Architecture
3
PUMA 560 Architecture
 
Robot Arm
4
PUMA 560 Architecture
Control Wardrobe
 

• Power Tray.
• Control Panel.
• Control Module.
• I/O Module.
• Amplifier Module.

5
PUMA 560 Architecture
Original Architecture
 
...
6
PUMA 560 Architecture
Original Architecture
 

• LSI 11/02 Processor.
• Digital Servos.
• Analogical Servos.
• Amplifiers.
• Incremental encoders.
• Potentiometers.

...
7
PUMA 560 Architecture
Original Architecture
 
8
Opened Control Architecture
 

...
9
Opened Control Architecture
 

...
10
Opened Control Architecture
 

• PCL-812.
• PCL-833.
• PCL-726.

...
11
Opened Control Architecture
...
12
Opened Control Architecture

• Brake circuit
• Original braking system.
• Brake control by computer.

13
Obtaining of Robots dynamic model by Gibbs-Appell
formulation
...
14
Obtaining of Robots dynamic model by Gibbs-Appell
formulation
Solve the Inverse Dynamic Problem Gibbss
Function Gibbss function for the solid i
is given by
...
15
Obtaining of Robots dynamic model by Gibbs-Appell
formulation
Solve the Inverse Dynamic Problem If we express
the tensorial and vectorial magnitudes
considering a reference system located in the
iesim bar. For a system consisting of n
bodies, Gibbss function could be given by
...
16
Obtaining of Robots dynamic model by Gibbs-Appell
formulation
Solve the Inverse Dynamic Problem The
Gibbs-Appells movements equations are obtained
leading respect to the generalized accelerations
, of that way we obtain the inertial forces
that correspond to the generalized external
forces ?j Operating
...
17
Obtaining of Robots dynamic model by Gibbs-Appell
formulation
Complexity n algorism From D-H and
off-line With a recursive way A term B
term
...
18
Obtaining of Robots dynamic model by Gibbs-Appell
formulation
Complexity n algorism
...
19
Obtaining of Robots dynamic model by Gibbs-Appell
formulation
Direct Dynamic Problem Algorism that simulate
the dynamic behavior of industrial robot. General
form of the movement equation Obtaining BIAS
vector Obtaining gravity vector
...
20
Obtaining of Robots dynamic model by Gibbs-Appell
formulation
Direct Dynamic Problem Obtaining the system
inertias matrix.
21
Movement simulation through the Dynamic Model
qd
?
q, v, a
Controller
Simulator
Dynamic equation DDP IDP System to solve
...
22
Movement simulation through the Dynamic Model
Results
23
Control of manipulators Robots
Development of a general expression to the
controllers by passiveness and inverse dynamic
? Mâ C G
...
24
Control of manipulators Robots
Control by passiveness The control based in the
passiveness with point to point strategies can be
seen as particular cases of this control
law. We obtain the gravitational term a partir
de doing that and
...
25
Control of manipulators Robots
...
26
Control of manipulators Robots
Control by passiveness
...
27
Control of manipulators Robots
Control by inverse dynamic We start from this
equation We will establish a control over the
trajectory, calculating a of that way
...
28
Control of manipulators Robots
Control by inverse dynamic
29
Reference Trajectories
Ramp entry Natural cubic spline
...
30
Reference Trajectories
Fourier Series
...
31
Conclusions