XXI Brain Storming Day. Catania 29/10/2010. Eng. Filippo Bonaccorso

Transcription

1 XXI Bran Stormng Day Catana 29/10/2010 Eng. Flppo Bonaccorso

2 Outlne Intro Dynamc Model of Robotc Structures Dynamc Model Evaluaton Results Conclusons & Future Works

3 RAPOLAC clusters expertse and resources from 8 partcpants, ncludng 4 SMEs and 4 unverstes. The partners are drawn from member states of EU and one other country, Argentna, and ncludes specalsts n the areas of part manufacturng, mcrostructural analyss, modellng and control, and envronmental specalsts.

4 RAPOLAC s focussed on the Shaped Metal Deposton (SMD) process whch s deal for use n prototype producton as well as n manufacturng, elmnatng the need for toolng and shortenng development lead-tmes. It uses no toolng and has low to zero harmful emssons. RAPOLAC wll carry out research on process automaton and wll concentrate on documentng and controllng the materal propertes through the development of process models.

5 Dynamc Model Target Poston - Controller ROBOT Jonts State Create a software envronment to smulate real and vrtual robotc structures useful to develop and test control algorthms cooperatng wth FE-based software.

6 Dynamc Model The dynamc model of a manpulator conssts of mathematcal equatons descrbng the dynamc behavor of the manpulator n order to perform: o Smulatons o Analyss of robotc structures o Developng control algorthms The dynamc model s used both to study real manpulators and, moreover, to help desgnng new ones. Jont Torques Robot moton

7 Dynamc Model Jont Torques: Γ() Jont Poston Jont Speed Jont Acceleraton τ = B ( q) q&& + C( q, q& ) q& + G( q) q q& q&& Jonts poston Jonts velocty Jonts Acceleraton

8 Dynamc Model There are two man ways to evaluate the Dynamc Model. Lagrange-Euler Formulaton - Energetc formulaton - Dynamc model n closed form (symbolc) - Useful n the analyss and desgn of control systems - Allows easy addton of contrbutons (e.g., The dynamcs of actuators) Newton-Euler Formulaton - Balances of forces and torques on ndvdual lnks - Dynamc model n recursve form (numerc) - Useful for effcent computaton of nverse dynamc

9 Lagrange-Euler Formulaton d dt L ( ) q& q Lagrange functon s defned L = Γ U Γ: Total knetc energy of robot Lagrange-Euler L U: Total potental energy of robot q q& τ : Poston of -th jont : Velocty of -th jont = τ : Generalzed force (torque) at -th jont

10 Lagrange-Euler q q B q T & & ) ( 2 1 = Γ = Γ T T I V V m ω ω = Γ T p U m g = = U U 2 (q) B ) (q C ) G(q ) ( ), ( ) ( q G q q q C q q B + + = & & && τ

11 Model Dynamcs Γ = 1 2 mv T U = m g V T p 1 T + ω Iω 2 Usng mechancal propertes, such as I or m, of any desred robotc structure. Matlab Smbolc Toolbox τ = B ( q) q&& + C( q, q& ) q& + G( q)

12 The output of the program created s a functon whch allows any user to: o Smulate the robot behavor o Desgn and refne control algorthms Model Dynamcs

13 Tests SAMCEF FIELD TEA MECANO Matlab - Smulnk DIEES Software Mechancal Propertes Robot Dynamcs FE Smulatons

14 Tests Smulnk/Samcef communcaton. Cosmulaton allows to keep two dfferent tmes steps between samcef and smulnk and allow to keep Smulnk as nterface.

15 Test 1 Open Loop τ = B ( q) q&& + C( q, q& ) q& + G( q) Both the smulatons show the same robot behavor.

16 Inverse Dynamcs Control q& & d q& d q d K d K p ( q) q& + η ( q, q& ) u ( q, q& ) = C ( q, q& ) q& + G ( q) B = η B ( q) + + u + η Robot ( q, q& ) q& q u = M ( q) q& + K ( q& q& ) + K ( q q) [& ] + C ( q, q& ) q& g ( q) d d d p d +

17 Tests Closed Loop Smulnk - Controller Mecano FE EM Robot In ths co-smulaton the Matlab-based control algorthm acts on a Mecano-based robot. The fgure shows how the FE-Model reaches the desred jonts poston ( )

18 Kuka KR16 Smulnk - Controller Mecano FEM Robot In ths co-smulaton the Matlab-based control algorthm acts on a Mecano-based Kuka KR16 robot.

19 Kuka KR16

20 Conclusons A software envronment (SE) to smulate real and vrtual robotc structures has been developed. Ths SE allows the user to test any robotc structure. Ths SE has been proved to be able to control several robotc manpulators structures.

21 RAPOLAC Publcatons PATENT about a control method for arc weldng deposton process 1. A Modular Software Interface to Develop an Arc Weldng Robot Control ; F. Bonaccorso G. Muscato, L. Cantell; TIE (accepted) 2. A Feedback Control System For A Rapd Producton Process Based On Robotc Weldng Deposton ; F. Bonaccorso, C. Bruno, L. Cantell, D. Longo, G. Muscato, S. Rapsarda; Proceedngs of 41 Internatonal Symposum on Robotcs ISR 2010; Munch, Germany, 7-9 June "A Modular Software Interface for the Control System of an Arc Weldng Robot ; F. Bonaccorso, C. Bruno, L. Cantell, D. Longo, G. Muscato; Proceedngs of the 2nd Internatonal Conference on Human System Interacton HSI'09, pp , May , Catana, Italy. ISBN Control of a Shaped Metal Deposton Process ; F. Bonaccorso, C. Bruno, L. Cantell, D. Longo, G. Muscato; Proceedngs of 4th Internatonal Scentfc Conference on Physcs and Control, PHYSCON 09, Catana, Italy, 1-4 September Closed Loop Weldng Controller for Manufacturng Process ; F. Bonaccorso, C. Bruno, L. Cantell, D. Longo, G. Muscato, S. Rapsarda; TRAM09 6. Control of Weldng for Rapd Manufacturng: Two Cases Study F. Bonaccorso, C. Bruno, L. Cantell, D. Longo, G. Muscato, G. Spampnato, SIDRA08

22 Other Publcatons 7. Evaluaton Of Algorthms For Indoor Moble Robot Self-localzaton Through Laser Range Fnders Data ; F. Bonaccorso, G. Muscato, F. Catana; Proceedngs of IAV2010: 7th IFAC Symposum on Intellgent Autonomous Vehcles; Lecce, Italy, 6-8 September An Innovatve Autonomous Outdoor Vehcle Based On Mcrosoft Robotc Studo ; P. Aranzulla, F. Bonaccorso, C. Bruno, L. Cantell, G. Lanter, D. Longo, D. Melta, G. Muscato, A. Penns, M. Prestflppo; Proceedngs of the 13th Internatonal Conference on Clmbng and Walkng Robots and the Support Technologes for Moble Machnes CLAWAR 2010; Nagoya, Japan, 31 August - 03 September 2010; p. 97, 104; ISBN-10: ; ISBN-13: ; World Scentfc Publshng Co Pte Ltd (24 Aug 2010) 9. Modelng Of An Innovatve Actuator For Clmbng Robot Adheson ; F. Bonaccorso, D. Longo, G. Muscato; Proceedngs of the 12th Internatonal Conference on Clmbng and Walkng Robots and the Support Technologes for Moble Machnes CLAWAR 09, Istanbul, Turkey, September 2009, pp Structure And Model Identfcaton Of A Vortex-based Sucton Cup ; F. Bonaccorso, C. Bruno, D. Longo G. Muscato; Proceedngs of the11th Internatonal Conference on Clmbng and Walkng Robots and the Support Technologes for Moble Machnes CLAWAR 08; 8-10 September 2008, Combra, Portugall

23 1. Samcef robot modelng and optmzaton tranng Course ; SAMTECH Headquarters, Lège, Belgum, Febrary Mcrochp 16 bt currculum ; Catana, Italy, May 2009; Schools 3. 4th European Summer Unversty n Surgcal Robotcs ; LIRMM, CNRS-Unversté Montpeller 2, Montpeller, France, 9-16 September Flterng, data analyss and optmzaton of uncertan systems ; PhD course of the seres on Advanced methods of dentfcaton and data analyss ; Dpartmento d Elettronca e Informazone, Poltecnco d Mlano, September 2009 NATO 2010: Advanced All-Terran Autonomous Systems; Çeşme, Turkey: Altn Yunus Resort, August Topc Area Leader on Laser Rangefnders, Inertal and Magnetc Sensors for Navgaton Competton 1. M-ELROB th European Land Robot Trals - 3rd Mltary ELROB; Hammelburg, Germany, May 2010 C-Elrob 2011

24 XXI Bran Stormng Day Catana 29/10/2010 Eng. Flppo Bonaccorso