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

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dc.identifier.uri http://dx.doi.org/10.15488/10377
dc.identifier.uri https://www.repo.uni-hannover.de/handle/123456789/10451
dc.contributor.author Zidan, Ahmed eng
dc.contributor.author Kaczor, Daniel eng
dc.contributor.author Tappe, Svenja eng
dc.contributor.author Ortmaier, Tobias eng
dc.date.accessioned 2021-02-04T10:16:28Z
dc.date.available 2021-02-04T10:16:28Z
dc.date.issued 2019
dc.identifier.citation 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 eng
dc.description.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. eng
dc.language.iso eng eng
dc.publisher Berlin u.a. : Springer Vieweg
dc.rights Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden. eng
dc.subject Multi-objective optimization algorithms eng
dc.subject P/PI control eng
dc.subject Dynamics identification eng
dc.subject Auto-tuning eng
dc.subject.ddc 620 | Ingenieurwissenschaften und Maschinenbau eng
dc.title Optimization of a P/PI Cascade Motion Controller for a 3-DOF Delta Robot eng
dc.type conferenceObject eng
dc.type Text eng
dc.relation.doi 10.1007/978-3-662-59317-2_22
dc.description.version acceptedVersion eng
tib.accessRights frei zug�nglich eng

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