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Robotics 1 Lecture 11 Cell Control
Research · October 2015
DOI: 10.13140/RG.2.1.2772.2962
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Robotics
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 1
Course objective
To provide a broad
understanding of the
use of industrial robots
And an experience in
specifying, designing
and presenting a new
robot application in oral
and written formats.
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 2
SYLLABUS
TOPIC
1. Realistic and Safe Use of Robots
2. Applications of Industrial Robots Project
3. Economic Justification
Excel Template
4. Robot Implementation
5. Arm Configurations Quiz 1 Take Home
6. Wrist Configurations
7. End Effectors and Tooling
8. Methods of Actuation
9. Non-servo Operation
10. Servo Controlled Robots
11. Cell Control, Hierarchical Design
12. Performance Measures
Sample Report 1 - Welding
Sample Report 2 - Painting
Sample Report 3 - Soldering
Sample Report 4 - Batch Manufacturing
Sample Report 5 - Machine Loading
13. Joint Control Programming
14. Path Control Programming
15. High Level Languages
16. Simulation and Programming
17. Vision and Sensor Systems
18. Work Cell Interfacing; REPORT DUE
19. Intelligent Robot Cells
20. Flexible Manufacturing
21. FINAL ORAL EXAM
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 3
Objective
Determine the relationship
between various robot
applications and the
methods of controlling the
path available on
commercial robots or
automated guided vehicles.
Be able to distinguish
between non-servo and
servo motions.
Be able to understand servo
control for implementing
controlled path motion for a
robot application.
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 4
Feedback Control
Feedback system – measurements
compared to input and error used to drive
plant
connection
Plant
Sensors
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 5
Digital Motion Control
Motion control is one of the
technological foundations of
industrial automation.
motion of a product
path of a cutting tool
motion of an industrial robot
arm conducting seam
welding
motion of a parcel being
moved from a storage bin to
a loading dock by a
shipping cart
The control of motion is a
fundamental concern.
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 6
Components
The components of a typical servo
controlled motion control system may
include
an operator interface
motion control computer
control compensator
electronic drive amplifiers
Actuator
Sensors
Transducers
and the necessary interconnections.
The actuators may be powered by
electro-mechanical, hydraulic or
pneumatic or a combination of these
power sources.
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 7
Example
Suppose a DC motor is used to drive a robot
arm horizontally.
z
y
Mg
A single joint robot arm driven by an armature-controlled DC motor
horizontally
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 8
Motorized Robot Arm
Add a motor to the rigid link pendulum arm.
Figure 10. Fixed Field DC motor (a) circuit diagram; (b) block diagram
(From Nice)
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 9
A DC motor with armature control and a
fixed field is assumed.
The armature voltage, ea(t) is the voltage supplied by an amplifier to control
the motor.
The motor has a resistance Ra , inductance La and back electromotive force
constant, Kb.
The back emf voltage, vb(t) is induced by the rotation of the armature
windings in the fixed magnetic field.
The counter emf is proportional to the speed of the motor with the field
strength fixed.
Figure 10. Fixed Field DC motor (a) circuit diagram; (b) block diagram
(From Nice)
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 10
The counter emf is proportional to
the speed of the motor
d
vb (t ) K b
dt
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 11
Taking the Laplace transform
gives:
V b (s)= sKb (s)
for
d
vb (t ) K b
dt
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 12
Kirchoff’s voltage law
The circuit equation for the
electrical portion of the motor
is:
Ea (s)= Ra Ia (s)+ La sIa (s)+V b (s)
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 13
This may also be written as:
Ea (s)= Ra Ia(s)+ La sIa(s)+V b(s)
E a ( s ) K b s ( s )
I a ( s)
La s Ra
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 14
The torque developed by the motor is proportional
to the armature current.
Tm(s) = Kt Ia(s)
This torque moves the armature and load.
Balancing the torques at the motor shaft
gives the torque relation to the angle that
may be expressed as follows
d m d m
2
T(t) = J 2
+ D
dt dt
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 15
Newton’s Second Law
d m d m
2
T(t) = J 2
+D
dt dt
where
m = the motor shaft angle position,
J = all inertia connected to the motor shaft
D= all friction (air friction, bearing friction, etc.) connected to the motor shaft
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 16
Taking the Laplace transform
gives:
d m d m
2
T(t) = J 2
+ D
dt dt
Tm(s)= Js2m(s)+ D s m(s)
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 17
Solving for the shaft angle
gives
Tm ( s )
m (s) 2
Js Ds
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 18
Gear train
If there is a gear train between the motor and
load, then the angle moved by the load is
different from the angle moved by the motor.
The angles are related by the gear ratio
relationship, which may be derived by noting
that an equal arc length, S, is traveled by two
meshing gears.
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 19
Equal distances traveled
S = Rm m = R L L .
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10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 20
Gear ratio
The gear circumference of the motor's gear is
2Rm that has Nm teeth
The gear circumference of the load's gear is
2RL that has NL teeth
The ratio of circumferences is equal to the
ratio of radii and the ratio of number of teeth
so that
NL L = Nm m
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 21
Gear ratio
NL L = Nm m
L Nm
n
m NL
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 22
By simplifying the block diagram shown, we can get the
Armature-Controlled motor transfer function as:
L ( s) Kt n
G(s)
E ( s) s( Js D)( L a s R a ) K b K t
Kt n
G(s)
s ( JL a s ( JR a DLa ) s DRa K b K t
2
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 23
Order of system
As we can see, this model is of the third order
However, in the servomotor case, the
inductance of the armature La could usually
be ignored
Thus this model could be reduced to a
second order system.
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 24
Impedence reflection to motor
side
According to the impedance reflection model
established before, the total inertia J and total
damping factor D are:
J = Ja + JL = 0.001+0.4167 = 0.4177 Kg.m2
D= Da + DL= 0.01+0.1=0.11
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 25
Transfer function
Substituting known
values gives
L ( s) 1
G( s)
E ( s) s(0.4177 s 0.11)(1 0 s) 11
1
G( s)
s(0.4177 s 1.11)
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 26
Matlab m-file for motor only
D=0.1+0.01;
Num=Kt*n;
Den=[J*La J*Ra+La*D D*Ra+Kt*Kb 0];
step(Num, Den);
title(‘Step Response of the Motorized Robot
Arm’);
End;
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 27
Response
Step Response of Motorized Robot Arm
Degree
1500
1000
500
Time (Seconds)
0
0 2 4 6 8 10
Figure 13. The motorized robot arm with velocity feedback step
response
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 28
Add feedback
Measure corresponding angle change. In this
case, Kp=(10-0)/(90-0)=0.1111 V/degree
The gear ratio is 1.
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 29
The new transfer function is:
G( s)
G' (s)
1 G ( s) K p
1
G' (s)
0.4177 s 2 1.11s 0.0011
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 30
Matlab step response
computation
V=10;
Angle=90;
Kp=V/Angle; %feedback voltage/angle constant
G=tf([1],[0.4177 1.11 0]);
% the transfer function of the velocity loop
sysclose=feedback(G,Kp);
%the closed loop function of position feedback
step(sysclose);
end
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 31
Unit step response
Input of 1 volt
Figure 15. Step response of the position feedback uncompensated
system
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 32
Better but still not good
enough
After position feedback, the steady response
tends to be stable.
However, the system response is too slow, to
make it have faster response speed, further
compensation is needed.
The following example describes the outline
of building a compensator for feedback
control system.
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 33
Serial compensator
+ E(s) E(s)
R(s) C(s)
Gc(s) G(s)
F(s)
H(s)
C(s) = Gc(s)G(s)E(s)
F(s) = H(s)C(s)
E(s) = R(s)-F(s)
C(s) = Gc(s)G(s)(R(s)-F(s)
C(s) = Gc(s)G(s)(R(s)-H(s)C(s))
C(s)=Gc(s)G(s)R(s)-Gc(s)G(s)H(s)C(s)
C(s)(1+Gc(s)G(s)H(s))=Gc(s)G(s)R(s)
C(s)/R(s) = Gc(s)G(s)/(1+Gc(s)G(s)H(s))
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 34
Compensator added
Motor
Ia(s) T(s) s m (s) m(s) L(s)
output
Input compensator 1 1 1
Kt n 180/
La.s+Ra Js+D s
Sum1
Sum2 Torque Constant gear ratio rad 2 deg1
Kb
Motor angle velocity feedback
1/n Kp
gear ratio1 Load angle velocity feedback
Figure 14. Position and velocity feedback model of the motorized
rigid link
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 35
How do we design the
compensator?
Analog system
Digital system
We will explore the use of a digital
compensator using a digital filter in a
computer controller.
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 36
Robot requirements need to be
determined for the application
Payload and working range
Arm and wrist configuration
End-effector required
Method of actuation
Operation (servo or non-servo)
Precision required
Special features
Commercial units available
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 37
Configurations fit applications
Cartesian
Application – assembly and
machine loading
Configuration – PPP
Percentage – 18
Advantage – equal
resolution, simple
kinematics
Disadvantage – Poor space
utilization, slow speed
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 38
Any questions?
10/22/2015 (C) 2001, Ernest L. Hall, University of Cincinnati 39
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