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A method for determining control inputs for prescribed accelerations of the end‐effector of a motion‐simulator robot
Author(s) -
Tändl Martin,
Kecskeméthy Andrés
Publication year - 2007
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.200700139
Subject(s) - acceleration , control theory (sociology) , interpolation (computer graphics) , payload (computing) , workspace , simulation , robot , controller (irrigation) , computer science , kinematics , trajectory , robot end effector , control engineering , engineering , motion (physics) , control (management) , artificial intelligence , computer network , physics , classical mechanics , astronomy , network packet , agronomy , biology
Described in this paper is an approach for generating control inputs for an industrial Kuka robot such that it produces prescribed linear acceleration time histories for a given point of the end‐effector. The method takes into account the workspace limits, and uses the internal interpolation cycle of the robot controller to generate the corresponding trajectories that will produce the prescribed accelerations. The PI parameters of the internal interpolation are identified from test measurements. The control scheme consists in producing time‐varying values for the desired angle values of the interpolation algorithm, making the changes as the algorithm proceeds and thus generating smooth trajectories. The resulting acceleration of these trajectories is compared to the prescribed accelerations, and an optimization procedure is run such as to determine the required time‐histories of the desired angles for the interpolation algorithm such that both accelerations match. The approach is demonstrated for the example of a 500kg payload Kuka robot that is aimed at producing given motions as a physical motion simulator (e. g. for cars or complex working machines). It is shown that the desired accelerations can be generated accurately and with high repeatability, making the approach suitable for example for simulating car rollover tests. (© 2008 WILEY‐VCH Verlag GmbH & Co. KGaA, Weinheim)