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Gain-Scheduled Drive-based Damping Control for Industrial Robots

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posted on 28.12.2021, 19:10 authored by Patrick MesmerPatrick Mesmer, Christoph Hinze, Armin Lechler, Alexander Verl

The drivetrain flexibility of industrial robots limits their accuracy. To open up new areas of application for industrial robots, an increased dynamic path accuracy has to be obtained. Therefore, this paper addresses this issue by a gain-scheduled drive-based damping control for industrial robots with secondary encoders. For this purpose, a linear parameter-varying (LPV) model is derived as well as a system identification method is presented. Based on this, a gain-scheduled drive-based LPV damping control design is proposed, which guarantees stability and performance under variation of the manipulator configuration. The control performance of the approach is experimentally validated for the three base joints of a KUKA KR210-2 industrial robot. The approach realizes a trade-off between ease of implementation and control performance as well as robustness.

Funding

German Research Foundation within the project: 290804444

History

Email Address of Submitting Author

patrick.mesmer@isw.uni-stuttgart.de

ORCID of Submitting Author

0000-0002-3699-9616

Submitting Author's Institution

Institute for Control Engineering of Machine Tools and Manufacturing Units, University of Stuttgart

Submitting Author's Country

Germany