Prototype and design of six-axis robotic manipulator

• Autorzy: Pająk Mateusz , Racław Marcin , Piotrowski Robert

Identyfikatory

DOI

10.14313/JAMRIS/1-2022/5

• Języki publikacji: EN

Abstrakty

EN

The paper presents a design for a six-axis manipulator. The design consists of specially designed solutions for housing, planetary gearboxes, and electronics. The manipulator is controlled by a supervisory control system. The use of a series of measuring elements allows tracking of the current position of each axis. This can be used to create a cascade control loop with velocity and acceleration feed-forward. The implemented control algorithm together with the microcontroller software allows one to tune parameters of the controllers for both control loops: inner, related to the speed of the robot; outer, related to its position.

Słowa kluczowe

EN

industrial manipulator; servostepper motor; cascade control; stateful machine

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2022
• Tom: Vol. 16, No. 1
• Strony: 46--52
• Opis fizyczny: Bibliogr. 10 poz., rys.

Twórcy

autor

Pająk Mateusz

• Gdańsk University of Technology, Faculty of Electrical and Control Engineering, Poland

autor

Racław Marcin

• Gdańsk University of Technology, Faculty of Electrical and Control Engineering, Poland

autor

Piotrowski Robert

• Gdańsk University of Technology, Faculty of Electrical and Control Engineering, Poland

Bibliografia

•  [1] L. Nocks, The Robot: The Life Story of a Technology, Johns Hopkins University Press, 2008, pp. 67–71.
•  [2] T. Sham, Autodesk Inventor Professional 2019 for Designers, 19th ed., CADCIM Technologies, 2018.
•  [3] L. Ball, “Make your own PC Boards,” Electronics Now, vol. 68, , 1997, pp. 48-51.
•  [4] Š. Kozák, “State-of-the-art in control engineering,” Journal of Electrical Systems and Information Technology, vol. 1, no. 1, 2014, pp. 7–8.
•  [5] M. L. Minsky, Finite-state Machines in Computation: Finite and infinite machines, Prentice Hall, 1967, pp. 11–31.
•  [6] M. Malek, P. Makys, M. Stulrajter, “Feedforward Control of Electrical Drives – Rules and Limits,” Power Engineering and Electrical Engineering, vol. 1, no. 1, 2011, pp. 35-42.
•  [7] A. Baehr, P. Mutschler, “Comparison of Speed Acquisition Methods based on Sinusoidal Encoder Signals,” J. Electr. Eng., vol. 2, no. 1, 2002, pp. 35–42.
•  [8] G. Ellis, “Feed-forward in position-velocity loops,” 20 Minute tune-up, Sept. 2000.
•  [9] J. G. Ziegler, N. B. Nichols, “Optimum Settings for Automatic Controllers,” ASME Trans., vol. 64, 1942, pp. 759–68.
• [10] Ch. Grimholt, S. Skogestad, “Optimal PI and PID control of first-order plus delay processes and evaluation of the original and improved SIMC rules,” Journal of Process Control, vol. 70, 2018, pp. 36–46.

Uwagi

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023).