TY - CHAP

T1 - Design of a Real Time Path of Motion Control for Manufacturing Applications

AU - Kunkelmoor, Joerg

AU - Mercorelli, Paolo

N1 - Conference code: 22

PY - 2021/5/31

Y1 - 2021/5/31

N2 - Due to an ever-increasing variety of parts in production, the programming of robots becomes more and more complex. For the optical quality control of contours with image processing systems, these robots must be individually programmed. The goal of this work is therefore to simplify the programming of the robot. The work has shown that this is possible through discrete real-time and model independent control. The contour is measured by a 3D triangulation sensor whose data is evaluated by an image processing system. Communication with the robot's system takes place via a Profinet interface to ensure real-time capability. The development of the controller has shown that a classical PID-Controller does not provide the desired control quality in particular in the presence of disturbances such as roughness of the surface to be inspected. Instead, a better result could be achieved with a particular switching Sliding Mode Control (SMC) approach that switches back and forth between two surfaces depending on the distance to the surface.

AB - Due to an ever-increasing variety of parts in production, the programming of robots becomes more and more complex. For the optical quality control of contours with image processing systems, these robots must be individually programmed. The goal of this work is therefore to simplify the programming of the robot. The work has shown that this is possible through discrete real-time and model independent control. The contour is measured by a 3D triangulation sensor whose data is evaluated by an image processing system. Communication with the robot's system takes place via a Profinet interface to ensure real-time capability. The development of the controller has shown that a classical PID-Controller does not provide the desired control quality in particular in the presence of disturbances such as roughness of the surface to be inspected. Instead, a better result could be achieved with a particular switching Sliding Mode Control (SMC) approach that switches back and forth between two surfaces depending on the distance to the surface.

KW - Applications

KW - PID-Controller

KW - Robots

KW - Sliding Mode Control

KW - Trajectory Control

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=85113393834&partnerID=8YFLogxK

UR - https://www.mendeley.com/catalogue/0b1d370f-1da2-3b7e-9e8b-05e8b78d06e1/

U2 - 10.1109/ICCC51557.2021.9454599

DO - 10.1109/ICCC51557.2021.9454599

M3 - Article in conference proceedings

AN - SCOPUS:85113393834

SN - 978-1-7281-8610-8

T3 - International Carpathian Control Conference, ICCC

BT - 2021 22nd International Carpathian Control Conference, ICCC 2021

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

CY - Piscataway

T2 - 22nd International Carpathian Control Conference, ICCC 2021

Y2 - 31 May 2021 through 1 June 2021

ER -