Advanced

Precise robot motions using dual motor control

Robertz, Sven LU ; Halt, Lorenz; Kelkar, Sameer; Nilsson, Klas LU ; Robertsson, Anders LU ; Schär, Dominique and Schiffer, Johannes (2010) IEEE International Conference on Robotics and Automation, 2010 p.5613-5620
Abstract
High motion performance, stiffness, and accuracy are crucial for industrial robot applications, but these requirements are in practice contradictory. Using a novel type of robot, the so called Gantry Tau, new combinations of stiffness and accuracy are in principle possible, except for the backlash in the drive-trains of each joint.



Existing techniques for backlash reduction are either mechanically complex or limit the mechanical bandwidth. This paper presents an approach based on dual motors connected in parallel to the load, such that the entire robot structure can be made practically backlash free by means of software and feedback control.



Different control strategies are presented and evaluated in... (More)
High motion performance, stiffness, and accuracy are crucial for industrial robot applications, but these requirements are in practice contradictory. Using a novel type of robot, the so called Gantry Tau, new combinations of stiffness and accuracy are in principle possible, except for the backlash in the drive-trains of each joint.



Existing techniques for backlash reduction are either mechanically complex or limit the mechanical bandwidth. This paper presents an approach based on dual motors connected in parallel to the load, such that the entire robot structure can be made practically backlash free by means of software and feedback control.



Different control strategies are presented and evaluated in experiments ranging from a lab servo process via a table-sized robot to a large industrial implementation with several meters of working range. Special emphasis was on a dual motor test rig with a linear high-resolution scale (not yet used for feedback) where the combined

motor torque was fully utilized for high acceleration, while reducing backlash by over 96%. (Less)
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Contribution to conference
publication status
published
subject
pages
5613 - 5620
conference name
IEEE International Conference on Robotics and Automation, 2010
external identifiers
  • WOS:000284150001115
  • Scopus:77955782864
language
English
LU publication?
yes
id
3c043942-1228-48e0-a073-0608f79d9c98 (old id 1613310)
date added to LUP
2010-06-08 15:00:57
date last changed
2016-10-13 05:02:02
@misc{3c043942-1228-48e0-a073-0608f79d9c98,
  abstract     = {High motion performance, stiffness, and accuracy are crucial for industrial robot applications, but these requirements are in practice contradictory. Using a novel type of robot, the so called Gantry Tau, new combinations of stiffness and accuracy are in principle possible, except for the backlash in the drive-trains of each joint.<br/><br>
<br/><br>
Existing techniques for backlash reduction are either mechanically complex or limit the mechanical bandwidth. This paper presents an approach based on dual motors connected in parallel to the load, such that the entire robot structure can be made practically backlash free by means of software and feedback control.<br/><br>
<br/><br>
Different control strategies are presented and evaluated in experiments ranging from a lab servo process via a table-sized robot to a large industrial implementation with several meters of working range. Special emphasis was on a dual motor test rig with a linear high-resolution scale (not yet used for feedback) where the combined<br/><br>
motor torque was fully utilized for high acceleration, while reducing backlash by over 96%.},
  author       = {Robertz, Sven and Halt, Lorenz and Kelkar, Sameer and Nilsson, Klas and Robertsson, Anders and Schär, Dominique and Schiffer, Johannes},
  language     = {eng},
  pages        = {5613--5620},
  title        = {Precise robot motions using dual motor control},
  year         = {2010},
}