OpenArchitectureSystemsforRealTimeControlofRobotsStructuralVibrations.docVIP

Open Architecture Systems for Real Time Control of Robots’ Structural Vibrations Luige Vladareanu Romanian Academy, Institute of Solid Mechanics, C-tin Mille 15, Bucharest 1, Romania www.vtc.ro Abstract. The abstract presents the architecture of a control system for the positioning trajectory of high positioning precision robots or manipulators at high speed through reducing and compensating dynamic vibrations induced by the system’s movement and is based on the system dynamic inversion method. So, supplementary to the robots control systems which ensure control on a desired trajectory, having as input signals velocity, position, in some cases force, there is introduced an active damping force, which leads to a fast mitigation of the vibrations. There is presented the Open Architecture System (OAH) for robot real time control with high positioning precision at high working speed. Through determining the optimal trajectory using a quadratic cost function for reducing tracking errors results a six fold increase in tracking speed on micro or nanometric positioning precision. Key Words: structural vibration, dynamic vibration, robot real-time control, multi-microprocessor system, distribute and decentralized system, PLC, networks 1. Introduction. It is well acknowledged that high-precision positioning is reduced in high speed applications due to motion-induced dynamic vibrations of in the system. By establishing a set of outputs which defines the dynamic behaviour of the system, vibrations can be compensated using the inversion of the system -dynamics by determining the inputs which achieve exactly the outputs-tracking. Thus developing a base inversion consists in finding the input which leads to a desired output. The resulting input can be limited corresponding to the available band width or the available input amplitudes. An alternative approach is increasing the dynamic response through inverse reaction. For example, the supplementary derivative reactions t