ESPRIT ’90 pp 493-507 | Cite as

ESPRIT Project 1561: Sacody Results and Achievements

  • Jean-Luc Faillot
Conference paper

Abstract

Project SACODY focuses on the development of techniques and tools which are necessary for the implementation of advanced controls for high-speed industrial robots. Specifically, all mechanical manipulators exhibit at high speed coupled dynamic flexions and torsions which limit their performances and can be reduced or suppressed by appropriate control actions.

Issues being adressed in project SACODY deal with the development of modelling, identification and control methods and softwares, constituting a complete set of tools needed to design adapted new control actions.

The performances achieved by new control are tested on laboratory models and will be demonstrated at the end of the project on an industrial robot.

Major outputs of the project are techniques, their implementation into CAD softwares, and their programmation on a robot controller for test on an industrial robot.

This paper outlines the objectives and some of the current achievements of the project.

Keywords

Frequency Response Function Industrial Robot Robot Controller Flexible Link Robot Configuration 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Reference

  1. De Schutter, J., Van Brussel, H., Adams, M.,Froment, A., Faillot, J-L., Control of flexible robots using generalized non linear decompling, IFAC Symposium on robot control SYROCO, Karlsruhe, October 1988Google Scholar
  2. Faillot, J-L., Advanced active control for industrial robotics, ESPRIT ’89 Conference Proceedings, pp 757–773Google Scholar
  3. Froment, A., Faillot, J-L., Gallay, G., Gerbeaux, F-X., Moderation et commande des structures flexibles polyarticulees, Colloque SMAI, Colloque SMAI “I’Automatique pour l’aéronautique et I’espace”, Paris, Mars 1989Google Scholar
  4. Lembregts, F., Leuridan, J.,Van Brussel, H., Frequency domain direct parameter identification for modal analysis: State space formulation, Mechanical systems and signal processing (1990) 4 (1), pp 65 – 75MATHGoogle Scholar
  5. Swevers, J., Adams, M., De Schutter, J., Van Brussel, H., Thielemans, HGoogle Scholar
  6. Limitations of linear identification and control techniques for flexible robots with non linear joint friction. International symposium on Experimental Robotics, Montreal, Canada, June 19 – 21, 1989Google Scholar

Copyright information

© ECSC, EEC, EAEC, Brussels and Luxembourg 1990

Authors and Affiliations

  • Jean-Luc Faillot
    • 1
  1. 1.Bertin & CiePlaisir CedexFrance

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