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Robust Gain-Scheduling for Smart-Structures in Parallel Robots

Algermissen, Stephan and Rose, Michael and Keimer, Ralf and Sinapius, Michael (2009) Robust Gain-Scheduling for Smart-Structures in Parallel Robots. SPIE Smart Structures and Materials & Nondestructive Evaluation and Health Monitoring 2009, 8.-12. März 2009, San Diego, USA.

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In the past years parallel robots demonstrated their capability in applications with high-dynamic trajectories. Smart-structures o_er the potential to further increase the productivity of parallel robots by reducing disturbing vibrations caused by high dynamic loads effectively. To investigate parallel robots and their applications, including suitable control concepts for smart-structures, the Collabo-rative Research Center 562 was founded by the German Research Council (DFG). The latest prototype within this research center is called Triglide. It is a four degree of freedom (DOF) robot with three translational and one rotational DOF. It realizes an acceleration of 10 g at the effector. In the structure of the robot six active rods and a tri-axial accelerometer are integrated to control effector vibrations in three translational DOF. The main challenge of this control applica-tion is the position dependent vibration behavior. A single robust controller is not able to gain satis-fying performance within the entire workspace. Therefore a strategy for describing the vibration behavior by linearization at several operating points is developed. Behavior in-between is approximated by a linear approach. On a trajectory robust controllers in all operating points are smoothly switched by robust gain-scheduling. The scheduling parameters are fast varying and though a suitable stability proof is defined, based on Small-Gain approach. Several transformations enhance the results from Small-Gain Theorem and reduce the usual conservatism. Experimental data is used to show the improvements made.

Item URL in elib:https://elib.dlr.de/59744/
Document Type:Conference or Workshop Item (Speech)
Title:Robust Gain-Scheduling for Smart-Structures in Parallel Robots
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:March 2009
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:controller switching, gain-scheduling, robust control, small-gain theorem, stability proof, fast varying parameters, parallel kinematics, vibration reduction, smart-structures, automation
Event Title:SPIE Smart Structures and Materials & Nondestructive Evaluation and Health Monitoring 2009
Event Location:San Diego, USA
Event Type:Conference
Event Dates:8.-12. März 2009
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - no assignment (old)
Location: Braunschweig
Institutes and Institutions:Institute of Composite Structures and Adaptive Systems > Adaptronics
Deposited By: Ries, Doris
Deposited On:16 Sep 2009 11:51
Last Modified:17 Sep 2009 10:00

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