Optimization of a P/PI Cascade Motion Controller for a 3-DOF Delta Robot

Download statistics - Document (COUNTER):

Zidan, Ahmed; Kaczor, Daniel; Tappe, Svenja; Ortmaier, Tobias: Optimization of a P/PI Cascade Motion Controller for a 3-DOF Delta Robot. In: Schüppstuhl, Thorsten; Tracht, Kirsten; Roßmann, Jürgen (Eds.): Tagungsband des 4. Kongresses Montage Handhabung Industrieroboter. Berlin u.a. : Springer Vieweg, 2019, S. 217-226. DOI: https://doi.org/10.1007/978-3-662-59317-2_22

Repository version

To cite the version in the repository, please use this identifier: https://doi.org/10.15488/10377

Selected time period:

year: 
month: 

Sum total of downloads: 42




Thumbnail
Abstract: 
An auto-tuning method for a Delta robot’s P/PI cascade motion controller using multi-objective optimization algorithm is proposed. The implemented control structure consists of two controllers: A feedforward controller based on a model of the inverse dynamics of the robot, and a cascade P/PI controller to compensate for unmodeled effects. The auto-tuning is achieved in the sense of optimizing the control parameters in three stages. In the first stage, the feedback control parameters are optimized after neglecting the feedforward control term. The goal is to minimize the position error in tracking an excitation trajectory, which is used as well to identify the dynamic model parameters in the second stage. After that, the feedforward compensation term is computed offline based on the desired trajectory. In the final stage, the P/PI parameters are optimized again after adding the feedforward controller. Experimental results on an industrial 3-dof Delta robot validates the efficiency of the proposed method.
License of this version: Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden.
Document Type: conferenceObject
Publishing status: acceptedVersion
Issue Date: 2019
Appears in Collections:Fakultät für Maschinenbau

distribution of downloads over the selected time period:

downloads by country:

pos. country downloads
total perc.
1 image of flag of Germany Germany 27 64.29%
2 image of flag of United States United States 5 11.90%
3 image of flag of China China 4 9.52%
4 image of flag of Vietnam Vietnam 2 4.76%
5 image of flag of Czech Republic Czech Republic 2 4.76%
6 image of flag of United Kingdom United Kingdom 1 2.38%
7 image of flag of Austria Austria 1 2.38%

Further download figures and rankings:


Hinweis

Zur Erhebung der Downloadstatistiken kommen entsprechend dem „COUNTER Code of Practice for e-Resources“ international anerkannte Regeln und Normen zur Anwendung. COUNTER ist eine internationale Non-Profit-Organisation, in der Bibliotheksverbände, Datenbankanbieter und Verlage gemeinsam an Standards zur Erhebung, Speicherung und Verarbeitung von Nutzungsdaten elektronischer Ressourcen arbeiten, welche so Objektivität und Vergleichbarkeit gewährleisten sollen. Es werden hierbei ausschließlich Zugriffe auf die entsprechenden Volltexte ausgewertet, keine Aufrufe der Website an sich.

Search the repository


Browse