Tài liệu Lecture Notes in Control and Information SciencesEditors: M. Thoma pdf

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Tài liệu Lecture Notes in Control and Information SciencesEditors: M. Thoma pdf

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[...]... explained in 2.1 and 2.2 (2) Modeling of a Multi-Jointed Robot Generally, in the multi-jointed industrial robot, orthogonal motion (in working coordinate) data is generated by using coordinate calculation based on inverse kinematics By the servo system for joint angle control (in joint coordinate), the motion can be realized in working coordinate system as the orthogonal coordinate system The inverse kinematics... general industrial mechatronic servo system problem can be solved, when each axis of an industrial mechatronic servo system is simply combined and the characteristic in joint coordinate can be analyzed approximately by characteristic in working coordinate by using nonlinear coordinate transform between the working coordinate and the joint coordinate about articulated robot arm (2) Servo Controller of Industrial... move according to the velocity ratio corresponding to the axis incline At the edges orthogonal between x axis and y axis, their velocity is in nite To understand this case easily, the velocity command of driving system causing one axis motion should be needed from zero to in nite in theory In fact, the edge number of approximated polygon is determined by the velocity control ratio of the driving system... condition and the approximated linear 1st order model in working coordinate are introduced These models are constructed for the characteristic analysis of mechatronic servo system and the design of servo controller The mechatronic systems model introduced in this chapter are the basis of all analysis and design in the following chapters Each model is the general linear model in terms of the form In the... Structure of industrial robot and arrangement of actuator And for reducing the effect in control to a minimum, the motion of axis should be changed as be capable of independence 7 The generation of objective reference input for realizing mechanism movement structured with a multi-axis mechanism is by the servo system in which the independent motion of each axis including introduced machine mechanism... effectively adopted in the development of servo parameter determination or control strategy In the actual mechatronic servo system, for changing velocity controller as PI controller, it is as shown strictly in the block diagram of Fig 1.1 To this controller, in the 4th order model of Fig 2.2, velocity controller is expressed by an equivalent P control The integral (I) action in velocity controller in the actual... understand that the usage of this mechatronic servo system is different from the general servo system, the main points are listed as below 1 In a mechatronic servo system, there are two types of control One is position control (PTP: point to point) emphasizing the arriving time and stop position from any position without considering the response route Another is the contour control (contouring or CP: continuous... folded line As its results, the reference input to each axis servo system is renewed in each given coordinate point and the ramp input with various slope angles is given continuously The velocity of each axis is calculated for making the given synthetic velocity as a desired velocity In addition, in the case of performing the acceleration/deceleration control at start/stop point, the reference input... used for the control of transfer axis of mechanism implementing any three-dimensional shape processing (machine center, etc) 2 In the contour control, the servo system, as a position control system, requires strict velocity control for many kinds of response Concerning the robot for welding, the importance of velocity control can be easily Position control part Velocity control part Velocity controller... of state input and the dynamic of operation output can be obtained In general, in a software servo system, a very big sampling frequency is adopted Namely, under the restraint of hardware cost, the maximal sampling frequency is selected In determining the sampling frequency by this way, the performance boundary of the servo system when using this frequency is not distinct Even though expecting to raise . resembled by the obtained information. This kind of con trol system is called as emi- closed lo op. Generally ,i ti sv ery difficult to construct the feedbac ks ystem by motiontip informationinmanymechanism machines. The structureof afull-closedlooponthe feedback of moveable tipinformation adoptedin some parts. mechanism move- mentstructured with amulti-axismechanism is by the servosystem in whichthe independentmotion of eachaxis includingintroducedmachine mech anismc an be realized. The featureso fr eference input is regulated for keepin

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