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Diplomarbeit 2004 (DA04): Arbeits-Archiv
 
DA Nls 04/1 - Impedance Control of a SCARA Robot
Studierende: Michael Meier, meiermic
  Manuel Schnetzler, schneman

Betreuer: Einar Nielsen, nls
  Richard Alexander Hüppi, hppi

The institute of Mechatronic Systems (IMS) is widly acknowledged for is big experience in the area of force control. On a robot called Milan, available for research and development, many diplomas and project studies in position-control and force-control have been accomplished in the past. Yet still missing were systematic comparisons between different conceptions of regulations and rules.

The main task of our work consisted in building up a very close-to-reality model of the robot Milan using the software Matlab/Simulink. Based on this platform we could test and compare different types of force controllers and, based on the results, we were able to define different parameters for an optimised force control. The ultimate objectif was to implement those parameters on the robot Milan Scara to verify finally our model and to confirm the correctness of the simulations.

The big advantage the robot offered us was the easy access and the open interfaces of the controllers and regulators. Only this allowed us to accomplish different tests and mesurements in relation to the dynamic behaviour of the robot. Based on the results of these tests and mesurements we could draw most valuable conclusions concerning the moments of inertia of the robotarms and of the friction terms.

With our study in position-control and force-control the simulations have been verified for the first time ever. Some delimitations of the simulation had to be taken into consideration as well. In reality, for example, the starting positions of a robot are generated and calculated through a course planner. In our simulation however, this enormous challenge did set limits to the simulation. Therefore, in verifying the automatic force controller, it must be strictly paid attention to the fact that the robot is not driven into the range of the delimitations while measuring.

Our simulation offers a good possibility to verify and to optimise different algorithms of force rules and force regulations.

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