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Authors: Frédéric Colas 1 ; Eric Dumetz 1 ; Pierre-Jean Barre 1 and Jean-Yves Dieulot 2

Affiliations: 1 Technological Research Team – ERT CEMODYNE, ENSAM, France ; 2 Ecole Polytechnique Universitaire de Lille, LAGIS, France

ISBN: 972-8865-29-5

Keyword(s): Causal Ordering Graph, Industrial robot, Acceleration feedback, Jerk, Vibration control.

Related Ontology Subjects/Areas/Topics: Distributed Control Systems ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mechatronic Systems ; Optimization Algorithms

Abstract: A controller using acceleration feedback has been applied to a flexible robot for which the position and velocity of the load are not measured. It is shown by using the Causal Ordering Graph (COG), that the motor can be controlled by using acceleration feedback and that it allows an exact tracking of the motor position, irrespective of the non-linear flexibilities of the axis and of the measurement disturbances. This easy-to-tune algorithm, in which main control parameters are the modal masses of the motor and load part and only consists of a positive acceleration feedback plus a PD controller, has been validated on an industrial 3-axis robot.

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Paper citation in several formats:
Colas F.; Dumetz E.; Barre P.; Dieulot J. and (2005). USE OF THE COG REPRESENTATION TO CONTROL A ROBOT WITH ACCELERATION FEEDBACK.In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 972-8865-29-5, pages 25-31. DOI: 10.5220/0001171900250031

@conference{icinco05,
author={Frédéric Colas and Eric Dumetz and Pierre{-}Jean Barre and Jean{-}Yves Dieulot},
title={USE OF THE COG REPRESENTATION TO CONTROL A ROBOT WITH ACCELERATION FEEDBACK},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2005},
pages={25-31},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001171900250031},
isbn={972-8865-29-5},
}

TY - CONF

JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - USE OF THE COG REPRESENTATION TO CONTROL A ROBOT WITH ACCELERATION FEEDBACK
SN - 972-8865-29-5
AU - Colas, F.
AU - Dumetz, E.
AU - Barre, P.
AU - Dieulot, J.
PY - 2005
SP - 25
EP - 31
DO - 10.5220/0001171900250031

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