Evaluation of shaper designs on a high speed linear robot

T. Chang; E. Hou; K. Godbole

doi:10.1109/acc.2001.945556

Evaluation of shaper designs on a high speed linear robot

T. Chang, E. Hou, K. Godbole

Research output: Contribution to journal › Conference article › peer-review

Abstract

This work deals with the feedforward control of a high speed robotic workcell used by the NIST-ATP Precision Optoelectronics Assembly Consortium as a coarse stage to achieve micron-level placement accuracy. To maximize the speed of response under different load conditions, robust feedforward algorithms are considered. An optimal shaper is synthesized to tradeoff performance and robustness according to assembly specifications of the workcell. The optimal shaper, along with standard shaper designs such as Zero Vibration (ZV), Zero Vibration and Derivative (ZVD), and Extra Insensitive (EI) are applied to conduct cycle time testing on the robotic workcell. The performance of each shaper is evaluated with respect to residual vibration, robustness, and speed. Specifically, the workcell performance for various unknown loading conditions is observed. It is shown that the optimal shaper produces the best overall results.

Original language	English (US)
Pages (from-to)	281-286
Number of pages	6
Journal	Proceedings of the American Control Conference
Volume	1
DOIs	https://doi.org/10.1109/acc.2001.945556
State	Published - 2001
Event	2001 American Control Conference - Arlington, VA, United States Duration: Jun 25 2001 → Jun 27 2001

All Science Journal Classification (ASJC) codes

Electrical and Electronic Engineering

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10.1109/acc.2001.945556

Cite this

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title = "Evaluation of shaper designs on a high speed linear robot",

abstract = "This work deals with the feedforward control of a high speed robotic workcell used by the NIST-ATP Precision Optoelectronics Assembly Consortium as a coarse stage to achieve micron-level placement accuracy. To maximize the speed of response under different load conditions, robust feedforward algorithms are considered. An optimal shaper is synthesized to tradeoff performance and robustness according to assembly specifications of the workcell. The optimal shaper, along with standard shaper designs such as Zero Vibration (ZV), Zero Vibration and Derivative (ZVD), and Extra Insensitive (EI) are applied to conduct cycle time testing on the robotic workcell. The performance of each shaper is evaluated with respect to residual vibration, robustness, and speed. Specifically, the workcell performance for various unknown loading conditions is observed. It is shown that the optimal shaper produces the best overall results.",

author = "T. Chang and E. Hou and K. Godbole",

year = "2001",

doi = "10.1109/acc.2001.945556",

language = "English (US)",

volume = "1",

pages = "281--286",

journal = "Proceedings of the American Control Conference",

issn = "0743-1619",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "2001 American Control Conference ; Conference date: 25-06-2001 Through 27-06-2001",

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T1 - Evaluation of shaper designs on a high speed linear robot

AU - Chang, T.

AU - Hou, E.

AU - Godbole, K.

PY - 2001

Y1 - 2001

N2 - This work deals with the feedforward control of a high speed robotic workcell used by the NIST-ATP Precision Optoelectronics Assembly Consortium as a coarse stage to achieve micron-level placement accuracy. To maximize the speed of response under different load conditions, robust feedforward algorithms are considered. An optimal shaper is synthesized to tradeoff performance and robustness according to assembly specifications of the workcell. The optimal shaper, along with standard shaper designs such as Zero Vibration (ZV), Zero Vibration and Derivative (ZVD), and Extra Insensitive (EI) are applied to conduct cycle time testing on the robotic workcell. The performance of each shaper is evaluated with respect to residual vibration, robustness, and speed. Specifically, the workcell performance for various unknown loading conditions is observed. It is shown that the optimal shaper produces the best overall results.

AB - This work deals with the feedforward control of a high speed robotic workcell used by the NIST-ATP Precision Optoelectronics Assembly Consortium as a coarse stage to achieve micron-level placement accuracy. To maximize the speed of response under different load conditions, robust feedforward algorithms are considered. An optimal shaper is synthesized to tradeoff performance and robustness according to assembly specifications of the workcell. The optimal shaper, along with standard shaper designs such as Zero Vibration (ZV), Zero Vibration and Derivative (ZVD), and Extra Insensitive (EI) are applied to conduct cycle time testing on the robotic workcell. The performance of each shaper is evaluated with respect to residual vibration, robustness, and speed. Specifically, the workcell performance for various unknown loading conditions is observed. It is shown that the optimal shaper produces the best overall results.

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JO - Proceedings of the American Control Conference

JF - Proceedings of the American Control Conference

T2 - 2001 American Control Conference

Y2 - 25 June 2001 through 27 June 2001

ER -

Evaluation of shaper designs on a high speed linear robot

Abstract

All Science Journal Classification (ASJC) codes

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