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Automatisk trimning av en flexibel manipulator
Linköping University, Department of Electrical Engineering.
2009 (Swedish)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesisAlternative title
Automatic tuning of a flexible manipulator (English)
Abstract [sv]

Dagens industrirobotar är mycket mer komplexa än vad de var för några år sedan. Regleringen baseras på matematiska modeller och för att prestandan ska var lika bra eller bättre än förr krävs det att modellerna är anpassade till individen. Det krävs därför att modellparametrarna justeras för att stämma överens med den aktuella roboten.

Rapporten handlar om hur de flexibla modellparametrarna ska trimmas för robotens leder så att verktygets svängningar minskar. På grund av att en rörelse på en axel påverkar de övriga axlarna, blir detta ett sexdimensionellt minimeringsproblem. Detta kan dock lösas genom att låsa vissa leder i olika positioner och på så sätt delas minimeringen upp i flera steg med som mest tre variabler att minimera över. Målfunktionen beräknas som L2-normen över den del av momentsignalen som, enligt momentframkopplingen, ska var konstant. En dåligt trimmad robot svänger mycket vilket ger ett högt målfunktionsvärde. Genom att justera de flexibla modellparametrarna kan svängningen minimeras.

Abstract [en]

Industrial robots are more complex today than they were a few years ago. The control is based on mathematical models and in order to keep the performance or make it even better it is desirable to adjust the models so that they fit the individual robot. It is therefore necessary to adjust the model parameters.

The report deals with how to tune the model parameters, that affect the joint flexibility, to decrease the oscillation of the tool. A joint is dependent on the motion of the other joints and therefore it becomes a six-dimensional optimization problem. The problem can be simplified to a number of subproblems with at most three dimensions by selecting joint positions which minimizes the coupling between the joints. The objective function is calculated as the L2-norm over a sequence of the motor torque. The sequence is defined to be where the torque reference is constant. A robot which is poorly tuned oscillate a lot, which implies a large function value. The oscillation can be decreased by a careful tuning of the model parameters.

 

Place, publisher, year, edition, pages
2009. , 85 p.
Keyword [sv]
Automatisk trimning, Flexibelt mekaniskt system, Heltalsoptimering, Complex
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-16322ISRN: LITH-ISY-EX--09/4189--SEOAI: oai:DiVA.org:liu-16322DiVA: diva2:160377
Uppsok
teknik
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Available from: 2009-02-16 Created: 2009-01-14 Last updated: 2009-02-16Bibliographically approved

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CiteExportLink to record
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