Position synchronization of multiple motion axes with adaptive coupling control.
type: Item
instance of: scholarly article
title: Position synchronization of multiple motion axes with adaptive coupling control.
zbMATH Open document ID: 1137.93366
DOI: 10.1016/S0005-1098(03)00037-2
author: Dong Sun
published in: Automatica
publication date: 2003-06-09T00:00:00Z
review text: With the ever increasing demand for greater productivity the robots more and more widely uses in the modern manufacturing. The next step in the automation of the manufacturing is the employment of integrated robots with the intersecting operation space i.e., when individual operations are combined into one operation. The example of such integrated robot cell containing four planar manipulators is considered in the represented paper. The problem of workability satisfaction of such cross-coupling technology robot-cell is synchronization of movement of every manipulator which excludes the intersecting of their trajectories. In the considering case the problem is reduced to adaptive coupling control for position synchronization of multiple motion axes. And in such statement the mentioned problem is very difficult and challenger. Strategy of multi-axis synchronization considers a motion control system with \(n\) axis the dynamics which are described by the system of ordinary differential equations of the second-order with variable inertia and damping and other nonlinear unexpected disturbances. The position tracking error of the \(i\)th axis is defined as \(e_i(t)= x^d_i(t)- x_i(t)\), where \(x^d_i(t)\) denotes the desired position of the \(i\)th axis, \(x_i(t)\) are the its coordinates in the real motion. The main control goal of synchronized motion \(e_i(t)\to 0\) simultaneously may be treated like demand \(e_1(t)= e_2(t)=\cdots= e_n(t)\). So the main goal may be divided into \(n\) sub-goals of all position pairs of two axes synchronization errors in the following way: \[ \varepsilon_1(t)= e_1(t)- e_2(t);\, \varepsilon_2(t)= e_2(t)- e_3(t);\dots; \varepsilon_n(t)= e_n(t)- e_1(t) \] and if \(\varepsilon_i(t)= 0\), for all \(i\), the goal of multi-axis synchronization can be achieved. Including the new variables, named coupled position error by means following expression \[ e^*_i(t)= e_i(t)+ \beta \int^e_0 (e_i(w)- e_{i-1}(w))\,dw, \] where \(\beta\) is a positive coupli…
Mathematics Subject Classification ID: 93C40
Mathematics Subject Classification ID: 93C85
zbMATH DE Number: 1924703
zbMATH Keywords: integrated robot sell
zbMATH Keywords: planar manipulators
zbMATH Keywords: adaptive coupling control
zbMATH Keywords: position synchronization of multiple axes
zbMATH Keywords: asymptotic stability
zbMATH Keywords: position errors
zbMATH Keywords: synchronization errors
zbMATH Keywords: Lyapunov stability technique
reviewed by: Yuri N. Sankin
MaRDI profile type: Publication
cites work: Cross-Coupled Biaxial Computer Control for Manufacturing Systems
cites work: Synchronization of Two Motion Control Axes Under Adaptive Feedforward Control
cites work: Synchronization of twin-gyro precession under cross-coupled adaptive feedforward control
full work available at URL: s0005-1098(03)00037-2
OpenAlex ID: W1992813684
description: scientific article; zbMATH DE number 1924703