Adaptive Self-Tuning Control of Manipulators Using Uncalibrated Joint Torque Sensing
The invention represents an adaptive controller for robot manipulators that uses signals received from joint torque sensors to adaptively compensate for the effects of robot link dynamics. In particular, the invention uses a self-tuning control algorithm that adaptively tunes the gains and offset of the torque sensor in addition to other parameters (including inertia of the motor's rotors, link twist angles, friction parameters of the joints, etc.), to achieve zero tracking error.
The technology has applications in areas requiring high degrees of precision in position tracking, including the following:
- Arc welding;
- Laser cutting;
- Fixtureless assembly;
- CNC machine tooling;
- High-speed tracking and positioning servo systems for precision weapons;
- Radar-tracking antennae; and
- Missile interception systems.
The Business Opportunity
Many applications of manipulators depend on a high degree of precision in position tracking in spite of load dynamics. The invention addresses this need by providing a robust control algorithm capable of achieving precise position tracking irrespective of load dynamics (e.g. link dynamics of manipulators, cutting force in a CNC machine tool, or wind force in a radar-tracking antenna). In order to accomplish this, the invention uses uncalibrated joint torque sensors without the need for an accurate link dynamics model, which may or may not be available.
Technology Transfer Details
This technology is available for licensing.
The business opportunity may be referred to by its CSA case ID: 50740
- Aghili, F. and M. Namvar, "Adaptive Control of Manipulators Using Uncalibrated Joint-Torque Sensing," Institute of Electrical and Electronics Engineers (IEEE), Transactions on Robotics, Vol. 22, No. 4, pp. 854–860, August 2006.
- Namvar, M. and F. Aghili, "Adaptive Force-Motion Control of Coordinated Robots Interacting with Geometrically Unknown Environments," Institute of Electrical and Electronics Engineers (IEEE), Transactions on Robotics, Vol. 21, No. 4, pp. 678–694, August 2005.
- Aghili, F., "Robust Impedance Control of Manipulators Carrying Heavy Payload," American Society of Mechanical Engineers (ASME), Journal of Dynamic Systems, Measurements, and Control, Vol. 132, pp. 051011.1-8, September 2010.
- Aghili, F., J. M. Hollerbach and M. Buehler, "A Modular and High-Precision Motion Control System with an Integrated Motor," Institute of Electrical and Electronics Engineers/ American Society of Mechanical Engineers (IEEE/ASME), Transactions on Mechatronics, Vol. 12, No. 3, pp. 317–329, June 2007.
- Aghili, F., "Ripple Suppression of BLDC Motors with Finite Driver/Amplifer Bandwidth at High Velocity," Institute of Electrical and Electronics Engineers (IEEE), Transactions on Control Systems Technology, Vol. 19, No. 2, pp. 391–397, March 2011.
- Aghili, F., "Fault-Tolerant Torque Control of BLDC Motors," Institute of Electrical and Electronics Engineers (IEEE), Transactions on Power Electronics, Vol. 26, No. 2, pp. 355 –363, February 2011.
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