Evaluation of shaper designs on a high speed linear robot

Document Type

Conference Proceeding

Publication Date

1-1-2001

Abstract

This work deals with the feedforward control of a high speed robotic workcell used by the NIST-ATP Precision Optoelectronics Assembly Consortium as a coarse stage to achieve micron-level placement accuracy. To maximize the speed of response under different load conditions, robust feedforward algorithms are considered. An optimal shaper is synthesized to tradeoff performance and robustness according to assembly specifications of the workcell. The optimal shaper, along with standard shaper designs such as Zero Vibration (ZV), Zero Vibration and Derivative (ZVD), and Extra Insensitive (EI) are applied to conduct cycle time testing on the robotic workcell. The performance of each shaper is evaluated with respect to residual vibration, robustness, and speed. Specifically, the workcell performance for various unknown loading conditions is observed. It is shown that the optimal shaper produces the best overall results.

Identifier

0034842741 (Scopus)

Publication Title

Proceedings of the American Control Conference

External Full Text Location

https://doi.org/10.1109/acc.2001.945556

ISSN

07431619

First Page

281

Last Page

286

Volume

1

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