EPE Association: EPE 2001 - Topic 07f: Modelling and Simulation

EPE 2001 - Topic 07f: Modelling and Simulation
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 2001 - Conference > EPE 2001 - Topic 07: MOTION CONTROL AND ROBOTICS > EPE 2001 - Topic 07f: Modelling and Simulation

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   A new approach to define acceleration shape using electric model.
By C. Paroz; Y. Perriard [View]
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Abstract: In the modern robot and industrial machine tool, acceleration times begin to prevail over cruising times. This paper demonstrates important relations between acceleration shape and various characteristics of a drive system. These characteristics are mainly power dissipation, quickness and mechanical lifetime. An electrical model gives an easy and direct way to analyse various system.

   Dynamic Modeling of Hysteresis in Harmonic Drives
By R. Dhaouadi; P. Gandhi; F. Ghorbel [View]
[Download]

Abstract: A new dynamic model is proposed to describe the hysteresis phenomenon in harmonic drives using the heredity concept of dynamic systems. The hysteresis is represented by a combination of nonlinear stiffness and damping components leading to a mathematically well-posed nonlinear differential equation. The model parameters are identified using experimental data and optimization techniques.

   Simulation of robot control with voltage and current limitations
By P.Ph. Robet; M.Gautier [View]
[Download]

Abstract: In this paper we design a simplified model for electric drive chain of high speed machines such as robots which takes into account both current and voltage saturation. The simplified model simulation time is divided by ten or more compared with the full model simulation time. It remains close to the usual static gain model simulation time while keeping the tracking error trajectory close to the real tracking error.

EPE 2001 - Topic 07f: Modelling and Simulation
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 2001 - Conference > EPE 2001 - Topic 07: MOTION CONTROL AND ROBOTICS > EPE 2001 - Topic 07f: Modelling and Simulation
	[return to parent folder]

	A new approach to define acceleration shape using electric model. By C. Paroz; Y. Perriard	[View] [Download]
Abstract: In the modern robot and industrial machine tool, acceleration times begin to prevail over cruising times. This paper demonstrates important relations between acceleration shape and various characteristics of a drive system. These characteristics are mainly power dissipation, quickness and mechanical lifetime. An electrical model gives an easy and direct way to analyse various system.

	Dynamic Modeling of Hysteresis in Harmonic Drives By R. Dhaouadi; P. Gandhi; F. Ghorbel	[View] [Download]
Abstract: A new dynamic model is proposed to describe the hysteresis phenomenon in harmonic drives using the heredity concept of dynamic systems. The hysteresis is represented by a combination of nonlinear stiffness and damping components leading to a mathematically well-posed nonlinear differential equation. The model parameters are identified using experimental data and optimization techniques.

	Simulation of robot control with voltage and current limitations By P.Ph. Robet; M.Gautier	[View] [Download]
Abstract: In this paper we design a simplified model for electric drive chain of high speed machines such as robots which takes into account both current and voltage saturation. The simplified model simulation time is divided by ten or more compared with the full model simulation time. It remains close to the usual static gain model simulation time while keeping the tracking error trajectory close to the real tracking error.