EPE Association: EPE 2007 - Subtopic 09-1 - LS: Motion control and robotics, communication in drive systems

EPE 2007 - Subtopic 09-1 - LS: Motion control and robotics, communication in drive systems
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 2007 - Conference > EPE 2007 - Topic 09: 'Motion control and robotics, communication in drive systems' > EPE 2007 - Subtopic 09-1 - LS: Motion control and robotics, communication in drive systems

   [return to parent folder]

   Physical Dynamic Modelling and Systematic Control Structure Design of a Double Linear Drive Moving Gantry Stage Industrial Robot
By GOMAND Julien; KESTELYN Xavier; BARRE Pierre-Jean; BEAREE Richard [View]
[Download]

Abstract: Industrial control of Dual-Drive Moving Gantry Stage Robots is usually achieved by two independent position controllers. This control structure does not take into account the mechanical coupling between the two actuators that leads to a reduction of the overall performances. In this paper, a physical dynamic lumped parameters model of an industrial robot based on structural, modal, and Finite Element Method analysis is proposed, experimentally identified and validated. Then, using simple inversion rules of the Causal Ordering Graph formalism, a control structure is deduced in a systematic way. The solution is finally simulated and shows that it is possible to obtain better performances than the industrial control.

   Contactless Planar Actuator with Manipulator
By VANDENPUT AndrÃ© J.A.; DE BOEIJ Jeroen; DUARTE Jorge L.; LOMONOVA Elena [View]
[Download]

Abstract: The accuracy and reliability of high-precision machines is compromised by friction and disturbances due to cables to moving machine parts. These problems can be solved by applying three contactless techniques in one system: contactless generation of forces and torques, contactless energy transfer to a moving load and wireless control. This paper presents an overview of the research performed at Eindhoven University of Technology to create a contactless planar actuator with manipulator, a system which combines all three contactless techniques.

   Parameterization of DC/DC Converter Models for System level Simulation
By LAGUNA Leonardo; COBOS Jose; PRIETO Roberto; OLIVER Jesus [View]
[Download]

Abstract: The objective of this work is to propose a whole solution for simulating power systems based on the use of behavioral DC/DC converter models. The proposed model is a generic model whose parameters can be obtained from datasheets (especially useful to model commercial converters) or equivalent tests. The model has configurable features which can be activated or disabled in order to perform optimal simulations or to generate models with different levels of abstraction to be used in a top-down design methodology.

EPE 2007 - Subtopic 09-1 - LS: Motion control and robotics, communication in drive systems
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 2007 - Conference > EPE 2007 - Topic 09: 'Motion control and robotics, communication in drive systems' > EPE 2007 - Subtopic 09-1 - LS: Motion control and robotics, communication in drive systems
	[return to parent folder]

	Physical Dynamic Modelling and Systematic Control Structure Design of a Double Linear Drive Moving Gantry Stage Industrial Robot By GOMAND Julien; KESTELYN Xavier; BARRE Pierre-Jean; BEAREE Richard	[View] [Download]
Abstract: Industrial control of Dual-Drive Moving Gantry Stage Robots is usually achieved by two independent position controllers. This control structure does not take into account the mechanical coupling between the two actuators that leads to a reduction of the overall performances. In this paper, a physical dynamic lumped parameters model of an industrial robot based on structural, modal, and Finite Element Method analysis is proposed, experimentally identified and validated. Then, using simple inversion rules of the Causal Ordering Graph formalism, a control structure is deduced in a systematic way. The solution is finally simulated and shows that it is possible to obtain better performances than the industrial control.

	Contactless Planar Actuator with Manipulator By VANDENPUT AndrÃ© J.A.; DE BOEIJ Jeroen; DUARTE Jorge L.; LOMONOVA Elena	[View] [Download]
Abstract: The accuracy and reliability of high-precision machines is compromised by friction and disturbances due to cables to moving machine parts. These problems can be solved by applying three contactless techniques in one system: contactless generation of forces and torques, contactless energy transfer to a moving load and wireless control. This paper presents an overview of the research performed at Eindhoven University of Technology to create a contactless planar actuator with manipulator, a system which combines all three contactless techniques.

	Parameterization of DC/DC Converter Models for System level Simulation By LAGUNA Leonardo; COBOS Jose; PRIETO Roberto; OLIVER Jesus	[View] [Download]
Abstract: The objective of this work is to propose a whole solution for simulating power systems based on the use of behavioral DC/DC converter models. The proposed model is a generic model whose parameters can be obtained from datasheets (especially useful to model commercial converters) or equivalent tests. The model has configurable features which can be activated or disabled in order to perform optimal simulations or to generate models with different levels of abstraction to be used in a top-down design methodology.