Yves Boulenger, Erich Krämer, Hong Liu, Nikolaus Seitz, Gerd Hirzinger, DLR, Germany
This paper presents a very compact multisensory linear actuator and its control system. The key element of this linear actuator system is the DLR patented planetary roller spindle drive(PRSD)®. With a volume of 50×50×104mm (length×width×height) it can output more than 100kg force and achieve a displacement of 50mm with a resolution of 2µm. A compact microcontroller based stand-alone system enables the actuator only need 3 cables for RS232 and 5 cables for RS422 serial communication with any commercial PC in addition to 2 cables for power supply.
10:30―10:50 | Remote Monitoring and Inspection of Robotic Manufacturing Cells
J. Norberto Pires, University of Coimbra, Portugal
This paper is presented in a system integrator perspective by a university researcher and professor. That means that we focus on operational problems felt by system integrators, presenting a tool for system monitoring and inspection, taking our own experience from application work with industrial companies. In the paper a monitoring and inspecting tool for manufacturing setups is presented and explored. This work was first developed for monitoring robotic manufacturing cells. The objective was to be able to define a set of system events that could be fired to users attention when they actually happen. For that purpose there was the need for some kind of warning mechanism, and a program or server responsible for monitoring the installation and firing the requested events. It was decided to use electronic mail protocols (SMTP and POP3 services were included in the application) to … | Adaptive Robust Repetitive Control of a Class of Nonlinear Systems in Normal Form with Applications to Motion Control of Linear Motors
Li Xu, Bin Yao, Purdue University, USA
In this paper the idea of adaptive robust control (ARC) is integrated with a repetitive control algorithm to construct a performance oriented control law for a class of nonlinear systems in the presence of both repeatable and non-repeatable uncertain nonlinearities. All the uncertainties are assumed to be bounded by certain known bounding functions. The repetitive control algorithm is used to learn and approximate the unknown repeatable nonlinearities but with physically intuitive discontinuous projection modifications ensuring that all the function estimates are within the known bounds. Robust terms are constructed to attenuate the effect of various uncertainties including non-repeatable uncertainties effectively for a guaranteed transient performance and a guaranteed final tracking accuracy in … | 10:50―11:10 |
Chad A. Moore, Thomas R. Kurfess, Georgia Institute of Technology, USA
One of the most common Rapid Prototyping (RP) technologies, the stereolithography apparatus (SLA) fabricates 3-dimensional parts using a layer-based, additive fabrication processes by tracing part cross-sections on the top surface of a vat of liquid photopolymer. Up to now, usage of the SLA process has been limited to piece parts. We are interested in building fully functional prototypes containing various types of hardware while greatly increases the complexity of parts being produced. To accomplish this, we are investigating methods for building around embedded components, where these components are motors, circuit boards, bushings, etc. While it is possible to fabricate such assemblies using conventional SLA technology, we believe that much greater functionality and flexibility can be achieved if the architecture of typical SLA machines is modified …
| T2A | Robot Dynamics and Control | Vibration Control I | T2B | SALA PLATEA | 11:30―13:10 | SALA PASTA | Gerd Hirzinger, Germany | CHAIR | | Vincenzo Parenti Castelli, Italy | CO-CHAIR | Lilong Cai, PRC | Dynamic Models for the Re-Engineering of a High-Speed Cartesian Robot
Massimo Callegari, Ferdinando Cannella, Sergio Monti, Claudio Santolini, Università di Ancona, Paolo Pagnanelli, Campetella Robotics Center, Italy
High-speed robotics is growing fast as a new research and application field with more and more demanding requirements actually posed to robots' builders; sometimes the design of brand new mechanical architectures is needed (e.g. lightweight parallel machines) but if possible re-engineering of existing models will provide more economical solutions. This is presently the case of the CO2 High Speed Cartesian robot produced by Campetella Robotic Center that is already characterised by good dynamic performances but has been chosen by the producer for a re-engineering that should allow it to meet even more advanced targets. First experimental tests showed that some important interventions were needed for … | 11:30―11:50 | Vibration Control of Rotating Machinery Using Active Tilting-Pad Bearings
Rodrigo Nicoletti, UNICAMP, Brasil, Ilmar Ferreira Santos, DTU, Denmark
An active hybrid tilting-pad bearing together with the rotor and the hydraulic system is modeled and simulated. The main objective of the active device is the reduction of vibration amplitude in rotating machinery. The active action is based on injecting pressurized oil into the bearing gap through orifices machined in the pads. Numerical results show an effective vibration reduction in unbalance and frequency response analyses by applying a PI controller. The active system managed to eliminate instability phenomena (whirl) which appeared at high Sommerfeld number operational conditions.
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