Design of an adaptive-robust controller for a powder coating robot and its comparison with inverse dynamic approach

In this research, the design and function of “DAP”, a 3-DOF ‘RRP’ (rotational/prismatic) dual-acting pick-and-place-painting robot, are first briefly presented and, along with its kinematic and dynamic analysis, is studied to eliminate the man presence in industrially polluted environment such as coating processes. The main function of this robot is coating epoxy powder on “Hawle” gate valves at temperatures up to 200°C. Then, the movement and control simulation trend for maneuvering in optimization path are described by non-linear inverse dynamic and adaptive-robust controllers as modern control methods regarding to angle and torque feedback systems in industrial robots. Comparison of these control approaches is considered in relation to uncertainties. The results obtained from this research could greatly satisfy the need for overcoming uncertainties in such combined industrial processes.

[1]  Seyed Mohsen Safavi,et al.  Designing and Manufacturing of a “Pick and Place-Painting” Robot With Adaptive-Robust Controller , 2008 .

[2]  Her-Terng Yau,et al.  Robust decentralized adaptive control for uncertain large-scale delayed systems with input nonlinearities , 2009 .

[3]  Shuzhi Sam Ge,et al.  Adaptive Robust Motion/Force Control of Holonomic-Constrained Nonholonomic Mobile Manipulators , 2007, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[4]  Charles F. Lepple.  Implementation of a High-speed Sinusoidal Encoder Interpolation System , 2004 .

[5]  Miroslav Krstic,et al.  Nonlinear and adaptive control de-sign , 1995 .

[6]  Han Ding,et al.  Adaptive robust motion control of SISO nonlinear systems with implementation on linear motors , 2007 .

[7]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[8]  Shuzhi Sam Ge,et al.  Robust adaptive control of uncertain force/motion constrained nonholonomic mobile manipulators , 2008, Autom..

[9]  Carlos Canudas de Wit,et al.  Theory of Robot Control , 1996 .

[10]  Tian Huang,et al.  Time Minimum Trajectory Planning of a 2-DOF Translational Parallel Robot for Pick-and-place Operations , 2007 .

[11]  Bruno Siciliano,et al.  Modeling and Control of Robot Manipulators , 1995 .

[12]  Shuzhi Sam Ge,et al.  Robust adaptive control of coordinated multiple mobile manipulators , 2008 .

[13]  Marian P. Kazmierkowski,et al.  Direct torque control of PWM inverter-fed AC motors - a survey , 2004, IEEE Transactions on Industrial Electronics.