The goal of this work is the development of control concepts for a high precision robot joint. Th... more The goal of this work is the development of control concepts for a high precision robot joint. These proposed concepts are used to overcome the negative effects of the gear transmission. Thereby, the lowest achievable dynamic positioning error for the given setup is identified. For this purpose, a mechanical setup was used, in which the torque is generated by a permanent magnet synchron machine (PMSM) and transferred to the load through a Harmonic Drive gear. Two angular encoders on each side of the Harmonic Drive gear are supplemented by a Ferraris acceleration sensor on the load side.
Within this work a detailed model of the system, including the relevant non-linearities, is derived using Matlab/Simulink. The simulation results are verified using the described hardware and the model is refined in several iterations. This allows to gain a better understanding of the existing effects and therefore to develop appropriate concepts to increase the dynamic positioning precision. Finally, the control algorithms were implemented on the servo drive as a C# real time application. Beside a conventional cascade controller structure, a so called active damping for the suppression of resonant oscillations, as well as a compensation of the gear transmission error have been implemented. By this means a maximum load position error of 150 μrad could be achieved.
The goal of this work is the development of control concepts for a high precision robot joint. Th... more The goal of this work is the development of control concepts for a high precision robot joint. These proposed concepts are used to overcome the negative effects of the gear transmission. Thereby, the lowest achievable dynamic positioning error for the given setup is identified. For this purpose, a mechanical setup was used, in which the torque is generated by a permanent magnet synchron machine (PMSM) and transferred to the load through a Harmonic Drive gear. Two angular encoders on each side of the Harmonic Drive gear are supplemented by a Ferraris acceleration sensor on the load side.
Within this work a detailed model of the system, including the relevant non-linearities, is derived using Matlab/Simulink. The simulation results are verified using the described hardware and the model is refined in several iterations. This allows to gain a better understanding of the existing effects and therefore to develop appropriate concepts to increase the dynamic positioning precision. Finally, the control algorithms were implemented on the servo drive as a C# real time application. Beside a conventional cascade controller structure, a so called active damping for the suppression of resonant oscillations, as well as a compensation of the gear transmission error have been implemented. By this means a maximum load position error of 150 μrad could be achieved.
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Papers by Guenter Nagel
Within this work a detailed model of the system, including the relevant non-linearities, is derived using Matlab/Simulink. The simulation results are verified using the described hardware and the model is refined in several iterations. This allows to gain a better understanding of the existing effects and therefore to develop appropriate concepts to increase the dynamic positioning precision. Finally, the control algorithms were implemented on the servo drive as a C# real time application. Beside a conventional cascade controller structure, a so called active damping for the suppression of resonant oscillations, as well as a compensation of the gear transmission error have been implemented. By this means a maximum load position error of 150 μrad could be achieved.
Within this work a detailed model of the system, including the relevant non-linearities, is derived using Matlab/Simulink. The simulation results are verified using the described hardware and the model is refined in several iterations. This allows to gain a better understanding of the existing effects and therefore to develop appropriate concepts to increase the dynamic positioning precision. Finally, the control algorithms were implemented on the servo drive as a C# real time application. Beside a conventional cascade controller structure, a so called active damping for the suppression of resonant oscillations, as well as a compensation of the gear transmission error have been implemented. By this means a maximum load position error of 150 μrad could be achieved.