F. Nicolò

Control of robot arm with elastic joints via nonlinear dynamic feedback

It is known that control of a rigid robot arm can easily be achieved via static state-feedback compensation of the nonlinearities. However, in many practical situations, the elasticity in gear boxes is not negligible. If this is the case, the use of such a control technique is not possible anymore because neither is the system feedback equivalent to a controllable linear one, nor its input-output behavior can be decoupled via static state-feedback. The purpose of this paper is to show how dynamic state-feedback compensation may be used in order to obtain full state-space iinearity, and to present an application to the model of a three link robot arm with elastic joints.

Scheduling of flexible flow lines in an automobile assembly plant

This paper deals with the material flow management in a large-scale manufacturing process, namely the assembly of automobiles in a highly automated plant in Italy. After a detailed description of the plant from the viewpoint of material flow issues, the modeling process and the methodologies employed to address the problems are illustrated. The decision models were validated by means of simulations of the real plant in several different production scenarios (varying demand volume and mix, resource availability etc.).

Paper: Output regulation of a class of bilinear systems under constant disturbances

The problem of regulating the output of a linear process subject to parametric control, additive control, and additive unknown constant disturbances is considered. The controllability and observability theory for this kind of system is utilized to obtain a stabilizable linear periodic system with piecewise constant coefficients. The internal model principle is then applied to solve the classical output regulation problem for this system. Constructive synthesis procedures for the controller are supplied by the proofs of the obtained results.

A Task Space Decoupling Approach to Hybrid Control of Manipulators

Abstract A scheme for dynamic hybrid control of robot manipulators is presented. The design is directly achieved in task space coordinates. In this way, the inherent orthogonality between force and velocity description of tasks is preserved and overspecification is avoided in the control synthesis. A nonlinear decoupling and linearizing feedback law is obtained which yields invariant control performances over time-varying tasks. The effect of a robustifying integral action is discussed. Simulation results are reported for a two-link arm.

Dynamical control of industrial robots with elastic and dissipative joints

Abstract In this report some problems about dynamical control of industrial robots performing high speed continuous movement are presented. At first, automatic generation of robot dynamical models is dealt with and a new code, DYMIR, developed at Rome University is presented. In new DYMIR an extension that takes into account gear-boxes elasticity is included. Thereafter a study is presented on robot control systems based on a nonlinear feedback from local joint variables that makes the system decoupled and linear in nominal condition. The influence of the control implementation via a discrete algorithm, of joint elasticity (neglected in the control design) and of parameter variation is evaluated by using simulation.

Part routing in flexible assembly systems

The problem of part routing and scheduling in flexible manufacturing systems is considered with the goal of increasing the throughput. The flexible system considered is strongly characterized by the inclusion of assembly among the manufacturing operations to be performed on a mix of part batches. In particular, the logic structure of some basic decision problems is indicated through a set of combinatorial models. Two basic assembly problems characterized by batches of large and small size, respectively, are analyzed. >

Workload balance and part-transfer minimization in flexible manufacturing systems

Problems related to the flow management of a flexible manufacturing system (FMS) are here formulated in terms of combinatorial optimization. We consider a system consisting of several multitool automated machines, each one equipped with a possibly different tool set and linked to each other by a transportation system for part moving. The system operates with a given production mix.The focused flow-management problem is that of finding the part routings allowing for an optimal machine workload balancing. The problem is formulated in terms of a particular capacity assignment problem.With the proposed approach, a balanced solution can be achieved by routing parts on a limited number of different paths. Such a balancing routing can be found in polynomial time. We also give polynomial-time and-space algorithms for choosing, among all workload-balancing routings, the ones that minimize the global amount of part transfer among all machines.

An Application of Nonlinear Model Matching to the Dynamic Control of Robot Arm with Elastic Joints

Abstract The paper is concerned with dynamic control of robot arm with non negligible joint elasticity. In this case nonlinear control techniques based on decoupling and nonlinearity compensation via static state-feedback cannot be applied for the most common robot structures. This is because the mathematical model associated with these structures is such that the necessary and sufficient conditions for the existence of the decoupling control laws fail to hold. Motivated by these facts, the problem of using a dynamic state-feedback is considered. The main purpose of the paper is to show that one can design a dynamic state-feedback compensator, which makes the external behavior of the controlled robot identical to the one of a prescribed decoupled linear model. The particular example considered is a planar robot arm with two elastic joints

Technological Concepts and Mathematical Models in the Evolution of Modern Engineering Systems

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Task assignment and subassembly scheduling in flexible assembly lines

This paper deals with models for flow management problems in flexible assembly systems (FASs). The system consists of a set of machines that must perform the assembly of a number of parts, possibly of different types. Each part type requires a set of operations; the precedence relations among the operations are specified by an assembly tree. Machines are provided with limited-capacity tool magazines and a finite buffer for holding parts. Each machine can be tooled to perform only a particular subset of the operations required by the whole process. One problem is that of finding a feasible assignment of operations to machines and a feasible schedule of the subassemblies in order to minimize the completion time of all of the parts. In this paper, the problem is analysed as a case of pipelined assembly, i.e., when the FAS is characterized by a serial transportation system (flow line) and there exist a dominating path in the assembly tree. We present polynomial-time dynamic programming algorithms for solving the problem for both single-type and multi-type production. >