TY - GEN
T1 - The Influence of Structural Dynamics on Cascaded Joint Position Control of a Flexible Beam with a Compliant Gear
AU - Berninger, Tobias F.C.
AU - Huang, Chenhong
AU - Ochsenius, Marvin A.
AU - Rixen, Daniel J.
N1 - Publisher Copyright:
© 2019 Institute of Control, Robotics and Systems - ICROS.
PY - 2019/10
Y1 - 2019/10
N2 - The structural dynamics of a robot manipulator can have a large influence on its overall dynamic behavior. They can cause unwanted resonances, limit the control bandwidth and lead to instability. For this reason, a significant amount of research has focused on the development of advanced control methods which consider the structural dynamics of a robot. These techniques are, however, still rarely employed in practice due to their complex nature and reliance on accurate models. A popular decentralized control scheme for robot joints is cascaded position, velocity and current control of the motor. The goal of this paper is to visualize the influence of the structural dynamics of a flexible beam and flexible harmonic drive gear on this type of joint controller. The derived effects are explained by mainly relying on simulated and measured transfer functions, without the use of the typical equations. The difference between closing the control loop with position feedback from the motor side or on the joint side after the flexible gear is also investigated. The results are first generated using a flexible multibody simulation and later verified on a robot joint test rig.
AB - The structural dynamics of a robot manipulator can have a large influence on its overall dynamic behavior. They can cause unwanted resonances, limit the control bandwidth and lead to instability. For this reason, a significant amount of research has focused on the development of advanced control methods which consider the structural dynamics of a robot. These techniques are, however, still rarely employed in practice due to their complex nature and reliance on accurate models. A popular decentralized control scheme for robot joints is cascaded position, velocity and current control of the motor. The goal of this paper is to visualize the influence of the structural dynamics of a flexible beam and flexible harmonic drive gear on this type of joint controller. The derived effects are explained by mainly relying on simulated and measured transfer functions, without the use of the typical equations. The difference between closing the control loop with position feedback from the motor side or on the joint side after the flexible gear is also investigated. The results are first generated using a flexible multibody simulation and later verified on a robot joint test rig.
KW - Cascaded robot joint control
KW - flexible links and joints
KW - structural dynamics
UR - http://www.scopus.com/inward/record.url?scp=85079098433&partnerID=8YFLogxK
U2 - 10.23919/ICCAS47443.2019.8971640
DO - 10.23919/ICCAS47443.2019.8971640
M3 - Conference contribution
AN - SCOPUS:85079098433
T3 - International Conference on Control, Automation and Systems
SP - 649
EP - 654
BT - ICCAS 2019 - 2019 19th International Conference on Control, Automation and Systems, Proceedings
PB - IEEE Computer Society
T2 - 19th International Conference on Control, Automation and Systems, ICCAS 2019
Y2 - 15 October 2019 through 18 October 2019
ER -