Design of an adaptive-robust controller for a powder coating robot and its comparison with inverse dynamic approach

作者：Safavi S M; Hoshyarmanesh H R^*; Mirian S S; Khandan R

来源：International Journal of Advanced Manufacturing Technology, 2009, 45(11-12): 1179-1186.

DOI：10.1007/s00170-009-2043-6

• Dual-acting robot
• Coating process
• Inverse dynamic and adaptive-robust controllers
• Angle/torque feedback

In this research, the design and function of "DAP", a 3-DOF 'RRP' (rotational/prismatic) dual-acting pick-and-place-painting robot, are first briefly presented and, along with its kinematic and dynamic analysis, is studied to eliminate the man presence in industrially polluted environment such as coating processes. The main function of this robot is coating epoxy powder on "Hawle" gate valves at temperatures up to 200A degrees C. Then, the movement and control simulation trend for maneuvering in optimization path are described by non-linear inverse dynamic and adaptive-robust controllers as modern control methods regarding to angle and torque feedback systems in industrial robots. Comparison of these control approaches is considered in relation to uncertainties. The results obtained from this research could greatly satisfy the need for overcoming uncertainties in such combined industrial processes.

• 出版日期2009-12