Nonlinear Discrete Observer for Flexibility Compensation of Industrial Robots
TypeCommunications avec actes
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 manipulators. The proposed discrete observer is obtained by using Euler approximate discretization of the continuous observer. A series of experimental validations have been carried out on a 6 DOF industrial manipulator during a Friction Stir Welding process. The results showed good performance of discrete observer and the observer based compensation has succeed to correct the positioning error in real-time implementation.
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KLIMCHIK, Alexandr; PASHKEVICH, Anatol; GARNIER, Sébastien; CARO, Stéphane; LEONARD, François; ABBA, Gabriel; QIN, Jinna (ABBA Gabriel, 2014)The objective of this report is to detail the models used in simulation and the results obtained in simulation for both machining and FSW process. This report contains in a first part the details of modeling flexibilities ...
Experimental External Force Estimation Using a Non-Linear Observer for 6 axes Flexible-Joint Industrial Manipulators QIN, Jinna; LEONARD, François; ABBA, Gabriel (the Institute of Electrical and Electronics Engineers, 2013)This paper proposes a non-linear observer to estimate not only the state (position and velocity) of links but also the external forces exerted by the robot during Friction Stir Welding (FSW) processes. The difficulty of ...
QIN, 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. ...
GAUTIER, Maxime; JUBIEN, Anthony; ABBA, Gabriel; QIN, Jinna (ENSAM, 2013)Ce rapport est décomposé en 8 parties. La seconde partie rappelle les bases de la modélisation des robots à architecture série et présente les modélisations des deux robots. La troisième présente les méthodes d'identification ...
JAIN, Achin; QIN, Jinna; ABBA, Gabriel (IFTOMM, 2013)Robotic manipulators are widely used in industry for welding processes. Inadequate joint stiffness in the manipulators often limits their use for high quality welding operations because of the deformation errors produced ...