As machine users generally only define the start and end point of the movement, a large trajectory optimization potential rises for single axis mechanisms performing repetitive tasks. However, a descriptive mathematical model of the mecha- nism needs to be defined in order to apply existing optimization techniques. This is usually done with complex methods like virtual work or Lagrange equations. In this paper, a generic technique is presented to optimize the design of point-to-point trajectories by extracting position dependent properties with CAD motion simulations. The optimization problem is solved by a genetic algorithm. Nevertheless, the potential savings will only be achieved if the machine is capable of accurately following the optimized trajectory. Therefore, a feedforward motion controller is derived from the generic model allowing to use the controller for various settings and position profiles. Moreover, the theoretical savings are compared with experimental data from a physical set-up. The results quantitatively show that the savings potential is effectively achieved thanks to advanced torque feedforward with a reduction of the maximum torque by 12.6% compared with a standard 1/3-profile


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    Titel :

    CAD enabled trajectory optimization and accurate motion control for repetitive tasks


    Beteiligte:

    Erscheinungsdatum :

    01.01.2019


    Anmerkungen:

    15th IEEE International Conference on Control and Automation


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Trajectory optimization using fast-time repetitive computation.

    Raby, J. S. / Wingrove, R. C. | NTRS | 1966



    Adaptive Jacobian Based Trajectory Tracking for Redundant Manipulators with Model Uncertainties in Repetitive Tasks

    Zhou, Xuefeng / Xu, Zhihao / Li, Shuai et al. | Springer Verlag | 2020

    Freier Zugriff

    A Method of Trajectory Optimization by Fast-Time Repetitive Computations

    D. F. Crane / J. S. Raby / R. C. Wingrove | NTIS | 1966


    A method of trajectory optimization by fast-time repetitive computations

    Wingrove, Rodney C. / Raby, James S. / Crane, D. Francis | TIBKAT | 1966