A Novel Approach for Simplification of Industrial Robot Dynamic Model Using Interval Method
Communication avec acte
This paper proposes a new approach to simplify the dynamic model of industrial robot by means of interval method. Due to strong nonlinearities, some components of robot dynamic model such as the inertia matrix and the vector of centrifugal, Coriolis and gravitational torques, are very complicated for real-time control of industrial robots. Thus, a simplification algorithm is presented in this study in order to reduce the computation time and memory occupation. More importantly, this simplification is suitable for arbitrary trajectories in whole robot workspace. Furthermore, the method devotes to finding negligible inertia parameters, which is useful for robot model identification. A simulation has been carried out on a test trajectory using a 6-DOF industrial robot model, and the results have shown good performance and effectiveness of this method.
Fichier(s) constituant cette publication
Cette publication figure dans le(s) laboratoire(s) suivant(s)
Visualiser des documents liés par titre, auteur, créateur et sujet.
Prediction of bead geometry with consideration of interlayer temperature effect for CMT-based wire-arc additive manufacturing Article dans une revue avec comité de lectureWANG, Zeya; ZIMMER-CHEVRET, Sandra; LÉONARD, François; ABBA, Gabriel (Springer Science and Business Media LLC, 2021-09)Cold metal transfer (CMT)–based wire-arc additive manufacturing (WAAM) is increasingly popular for the production of large and complex metallic components due to its high deposition rate, low heat input, and excellent ...
Improvement strategy for the geometric accuracy of bead’s beginning and end parts in wire-arc additive manufacturing (WAAM) Article dans une revue avec comité de lectureWANG, Zeya; ZIMMER-CHEVRET, Sandra; LÉONARD, François; ABBA, Gabriel (Springer Science and Business Media LLC, 2021-09)Cold metal transfer (CMT)-based wire-arc additive manufacturing (WAAM) is a promising method for the production of large-scale and complex metallic parts because of its high efficiency, less heat input and low cost. However, ...
Off-line path programming for three-dimensional robotic friction stir welding based on Bézier curves Article dans une revue avec comité de lectureKOLEGAIN, Komlan; LEONARD, François; ZIMMER-CHEVRET, Sandra; BEN ATTAR, Amarilys; ABBA, Gabriel (Emerald, 2018)Robotic friction stir welding (RFSW) is an innovative process which enables solid-state welding of aluminum parts using robots. A major drawback of this process is that the robot joints undergo elastic deformation during ...
Communication avec acteQIN, Jinna; LEONARD, François; ABBA, Gabriel (Elsevier/International Federation of Automatic Control, 2014)This paper demonstrates the solutions of digital observer implementation for industrial applications. A nonlinear high-gain discrete observer is proposed to compensate the tracking error due to the flexibility of robot ...
Communication avec acteQIN, Jinna; LEONARD, François; ABBA, Gabriel (ASME, 2012)This paper proposes to use a non-linear observer to build the state and the external force of flexible manipulator robots during their machining (composite materials) processes or Friction Stir Welding (FSW) processes. ...