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COB16 PREDICTIVE SENSOR GUIDED ROBOTIC MANIPULATORS IN AUTOMATED WELDING CELLS

Adolfo Bauchspiess¹ & Sadek C. Absi Alfaro²

This paper presents an on-line tracking optimization scheme for sensor guided robotic manipulators by associating sensor information, manipulator dynamics and a path generator model. Feedback linearization-decoupling permits the use of linear SISO prediction models for the dynamics of each robot joint. Scene interpretation of CCD-camera images generates spline fitted segments of future trajectory. In the sensor vision field the proposed optimization criteria minimizes the error between state variables of the prediction model and the state variables of the spline trajectory generator. These techniques, allied with separation of disturbance rejection and path-tracking performance by the proposed feed-forward Following Model Predictive (FMP) servo-controller design, permits very high path tracking dynamics (and consequently small errors). Experimental results on implementation of a CCD-camera guided hydraulic robot and a welding robot demonstrates the practical relevance of the proposed approach.

Keywords: Robotics, Predictive Control, Sensor guided Manipulators, Welding Automation

COB17 Path Generation for a Redundant Sensor Guided Unloading Crane

Adolfo Bauchspiess¹ & Sadek C. Absi Alfaro²

The path generation for a redundant sensor guided coal unloading crane is discussed in this paper. After using much of task specific knowledge to restrict the possible Tool Center Point trajectories to a feasible subspace two approaches are analyzed to optimize the dig head trajectory in this subspace: a Fuzzy Logic and a Dynamic Programming based trajectory generation. Experimental results are presented for a CCD-camera guided hydraulic manipulator tracking an optimized unload trajectory.

Keywords: Trajectory Planning, Robotics, Fuzzy Logic, Dynamic Programming.

COB28 Linearização exata de uma mesa posicionadora para operação síncrona em uma célula de soldagem robotizada

Adolfo Bauchspiess, Getúlio Menezes Bento, Milton Siqueira

At GRACO/UnB a two degrees of freedom positioning table is being developed for the already operating MIG/MAG welding cell. This cell comprises today a Migatronic MBH240 welding equipment and an ABB IRB2000 welding robot. The integration of the positioning table with the welding cell requires synchronous movements, preferentially managed by the robot control system (S3 - from ABB). Conception, project and simulation of the closed loop controlled positioning table using non linear control techniques are discussed in this paper. Exact Linearization decouples and linearizes both degrees of freedom of the system. So it is possible to independently track reference paths for each joint. The dynamics of the decoupled and linearized table is established by a state space controller. A state observer is used to reconstruct the states that cannot directly be measured. Robustness of the proposed approach can be seen from results for different loading conditions.

Keywords: Exact Linearization, Non Linear Control, Robotics, Welding Automation

COB62 AUTOMAÇÃO HIDRÁULICA E PNEUMÁTICA EMPREGANDO A TEORIA DE SISTEMAS A EVENTOS DISCRETOS / FLUID POWER AUTOMATION USING DISCRETE EVENT SYSTEMS THEORY

Victor Juliano De Negri & Sergio Sarquis Attié

Departamento de Engenharia Mecânica – UFSC, Laboratório de Sistemas Hidráulicos e Pneumáticos, Cep 88040-900, Florianópolis – Sc, Brasil – E-mail: laship@emc.ufsc.br

This paper discusses the design of automatic systems composed of hydraulic & pneumatic components. For a practical case of a discrete plant, the main modeling tools available for the designers on hydraulic & pneumatic systems and automation are compared. The analysis emphasizes: a) the complement between modeling tools that describe function and behavior; b) the use of Grafcet diagram (IEC 848) for modeling discrete event systems; c) the possibility to use the supervisory control theory of discrete event systems to solve logical problems during the design stages of conception, verification, and modification.

Keywords: Fluid power, automation, discrete systems, Grafcet ; hidráulica, pneumática, automação, sistemas discretos.

COB195 SIMULATION OF ROBOT CALIBRATION PROCEDURES USING MODEL OPTIMIZATION UNDER OFF-LINE PROGRAMMING

José Maurício S.T. Motta* & R.S.McMaster**

*Departamento de Engenharia Mecânica, Faculdade de Tecnologia - FT/UnB.

70.910-900 Brasilia, Brazil - E-mail: jmmotta@jazz.graco.unb.br

**School of Industrial and Manufacturing Science, Cranfield University

MK43 OAL, Cranfield, England - E-mail: R.Mcmaster@cranfield.ac.uk

In this paper techniques are described which allow the robot calibration process to be simulated. This allows pre-test planning and optimisation to be studied resulting in an improvement in overall system performance. By introducing random errors the repeatability characteristics of both the robot under test and the measurement system are simulated. This gives the opportunity to study different numerical optimisation routines for the efficient identification of geometric parameters used to describe the kinematic model of the robot. The overall result is an improved and optimised kinematic model giving considerable improvement in the absolute accuracy of the robot.

Keywords: Kinematic model, robot calibration, absolute accuracy, numerical optimisation, geometric parameters

COB220 SOBRE O PROBLEMA DE OTIMIZAÇÃO DE TRAJETÓRIAS DE ROBÔS MANIPULADORES NA PRESENÇA DE OBSTÁCULOS / ABOUT THE PROBLEM OPTIMIZATION OF TRAJECTORY PLANNING OF ROBOT MANIPULATORS IN THE PRESENCE OF THE OBSTACLES

Sezimária F. Pereira Saramago* & Valder Steffen Júnior**

*Departamento de Matemática, **Departamento de Engenharia Mecânica

Universidade Federal de Uberlândia - Brasil - CEP 38400-089 - E-mail: vsteffen@ufu.br

This paper presents two different strategies for the problem of off-line optimal trajectory planning of robot manipulators in the presence of fixed obstacles. The first strategy is related to the situation where the task imposes the trajectory to contain a given number of points.The second strategy corresponds to the case where only the initial and final points are given. The optimal traveling time and the minimum mechanical energy of the actuators are considered together to build a multiobjective function. The obstacle avoidance is express in terms of the distances between potentially colliding parts. A simple numerical example involving a Cartesian manipulator arm with two-degree-of-freedom is described for the two strategies.

Keywords: Robot manipulator, Trajectory planning, Obstacle avoidance / Robôs Manipuladores, Planejamento de Trajetórias, Presença de obstáculos

COB351 PROPOSIÇÃO DE UMA LEI DE CONTROLE PARA ROBÔS DO TIPO SCARA / A CONTROL LAW PROPOSITION TO SCARA MANIPULATOR ROBOTS

Sebastião C. Pinheiro Gomes, Carlos C. Bier & Leandro S. Bellincanta

Departamento de Matemática, Fundação Universidade do Rio Grande (FURG),

Av. Itália Km 8, CEP 96201-900, Rio Grande, e-mail dmtscpg@super.furg.br

SCARA (Selectively Compliant Articulated Robot Arm) manipulators have many applications at the present, mainly in the industrial domain. Generally, for all manipulators it is necessary fast and well smoothed answers, with the minimum possible undesirable vibrations. However, due to non linear effects, mainly in friction form that exists in the actuators dynamic (motor gear in most cases), there are several difficulties to track trajectories with rapidity and precision. In this work we propose a control law projected to overcome these difficulties and to provide more quality in precision, stability, answer time and absence of undesirable vibrations, independently of the amplitude level in terms of commanded final positions.

Keywords: Robot, modeling, actuator, friction, control. Robô, modelagem, atuador, atrito, controle.

COB353 PSEUDO-ODOMETRY FOR LEGGED ROBOTS

Luiz de S. Martins-Filho 1 & Roland Prajoux

LAAS/CNRS, 7 Av. du Colonel Roche, 31077 Toulouse Cedex 4, France

e-mail: lmartins@laas.fr , prajoux@laas.fr

This paper discusses the problem of position and attitude determination for legged robots control architectures. The proposed approach is a geometric method providing a module equivalent to the odometry module found on wheeled mobile robots. This pseudo-odometry module is part of a walk supervisor architecture. The system is capable of fast adaptation to a wide variety of situations using rule-based reasoning to solve the problem of force distribution and react to walk events. The main modules of this architecture are briefly described and the pseudo-odometry method is detailed. Finally, we show a numerical example of position and attitude determination.

Keywords: Legged robots, walking robots, odometry, autonomous robots, robot localization.

COB354 DYNAMIC PERFORMANCE OF VARIABLE STRUCTURE HYBRID CONTROL OF MANIPULATORS

Abílio Azenha & J. A. Tenreiro Machado

Department of Electrical and Computer Engineering, Faculty of Engineering,,

University of Porto, Rua dos Bragas, 4099 Porto Codex, Portugal, Phone: +351-2-317105, Fax: +351-2-2003610/319280,

E-mail: azenha@tom.fe.up.pt, jtm@fe.up.pt

In this paper it is studied the implementation of a variable structure algorithm in the position/force hybrid control of robotic manipulators. The time and frequency responses of the system are calculated and its properties are studied. Moreover, the effect of the controller sampling frequency and the system stability are analysed through a linearization procedure.

Keywords: Robotics, Manufacturing Systems, Intelligent Control, Variable Structure Systems, Force Control.

COB355 TRAJECTORY CONTROL OF REDUNDANT MANIPULATORS

J.A.Tenreiro Machado* & Fernando B.M. Duarte**

* Faculdade de Engenharia da Universidade do Porto, Dep. de Eng. Electrotécnica e de Computadores,

Rua dos Bragas, 4099 Porto Codex, Portugal, Tel: +351-2-2009913, Fax:+351-2-319280, Email: jtm@ fe.up.pt

** Esc. Sup. Tecnologia Viseu - Dep. Matemática, Campus Politécnico, 3510 Viseu, Portugal

Tel: +351-32-4200500, Fax:+351-32-424651, Email:fduarte@graovasco.ipv.pt

This paper presents the fundamental aspects of the theory of the generalized inverses matrices and explores their application on the control of redundant manipulators. Redundant manipulators have some advantages when compared to classical arms because they allow a trajectory optimization, both on the free space and on the presence of obstacles, and the resolution of singularities. Nevertheless, for this type of manipulators the kinematic control adopts algorithms that use generalized inverses matrices. Consequently, the concepts associated with the control by generalized inverses are tested through several experiments that reveal the difficulties that often arise. In this perspective, it is studied the control of redundant and hyper-redundant manipulators namely through the analysis in points of singularity, showing that we may get non-optimal arm configurations.

Keywords: Kinematics, Redundant Manipulators, Pseudoinverses, Robots, Singularities.

COB399 CINEMÁTICA E DINÂMICA DA PERNA DE UM ROBÔ HEXÁPODE / KINEMATICS AND DYNAMICS OF ONE LEG OF A SIX-LEGGED WALKING MACHINE

Luciano Santos Constantin Raptopoulos^* & Max Suell Dutra^**

*Universidade Federal do Rio de Janeiro - Escola de Engenharia

**UNESP - Ilha Solteira - Departamento de Engenharia Mecânica

C.P. 31 - CEP 15385-000 - Ilha Solteira - São Paulo - Brasil - E-mail: max@dem.feis.unesp.br

The moving mechanisms of the mobile robot are classified into the wheel system, the crawler system, and the leg system, of which the leg system provides the widest range of movement. The evolution of legged vehicles has progressed significantly in recent years. These vehicles offer the potential of increased mobility for traversing rough terrain. This paper describes the kinematical and dynamical analysis of one leg of a six-legged locomotor. The architectures of this leg and its design is presented. The dynamical analysis is based in the method of Lagrange. The equations of motions are generated using the mathematical symbolic program MAPLEÔ .

Keywords: robotics, walking machines, kinematics, dynamics, gait, mechanisms, legs, machine design

COB400 MODELAGEM E CONTROLE DE UM ROBÔ HEXÁPODE / MODELING AND CONTROL OF A SIX-LEGGED WALKING MACHINE

Max Suell Dutra^** & Luciano Santos Constantin Raptopoulos^*

*Universidade Federal do Rio de Janeiro - Escola de Engenharia

**UNESP - Ilha Solteira - Departamento de Engenharia Mecânica

C.P. 31 - CEP 15385-000 - Ilha Solteira - São Paulo - Brasil - E-mail: max@dem.feis.unesp.br

The evolution of legged vehicles has progressed significantly in recent years. These vehicles offer the potential of increased mobility for traversing rough terrain. This paper describes the kinematical analysis of a six-legged locomotor. The architectures of these legs and its design is presented. The kinematical analysis (direct and inverse kinematics) is made using the mathematical symbolic program MAPLEÔ .

Keywords: robotics, walking machines, kinematics, dynamics, gait, mechanisms, legs, machine design / robótica, máquinas andantes, cinemática, dinâmica, modo de andar, mecanismos, pernas, projeto de máquinas.

COB485 DESENVOLVIMENTO DE UM SISTEMA DE INFORMAÇÃO PARA PIPEFA / DEVELOPMENT OF AN INFORMATION SYSTEM FOR PIPEFA

Renato de Campos ^1,2, Marcius Fabius H. Carvalho ^1,2, João Maurício Rosário ¹

(1) Laboratório de Automação e Robótica, DPM, FEM, UNICAMP, Campinas-SP, Brasil

(2) Instituto de Automação, Fundação Centro Tecnológico para a Informática, Rodovia D. Pedro I, Km143,6 - Caixa Postal 6162 - CEP 13081-970 - Campinas-SP, Brasil - E-mail: marcius@ia.cti.br

This paper presents concepts and tools for information system design of production planning and control system of an experimental platform. In the first phase of the methodology for the specification of database schema (requirements analysis), the CIMOSA model, that covers the function, information, resource and organizational aspects of an enterprise, is proposed. In the second phase (conceptual design), is proposed the EXPRESS language or PDN-Object model to specify the database schema.

Keywords: Modelagem de sistema de informação, modelagem de empresas, CIMOSA, EXPRESS, PDN-Object / Information system modeling, enterprise modeling.

COB486 FERRAMENTAS PARA CONCEPÇÃO DE SISTEMAS AUTOMATIZADOS UMA APLICAÇÃO À PLATAFORMA INDUSTRIAL PARA PESQUISA, ENSINO E FORMAÇÃO EM AUTOMAÇÃO (PIPEFA) / TOOLS FOR CONCEPTION OF THE AUTOMATION SYSTEMS AN APPLICATION IN AN AUTOMATION INDUSTRIAL PLATFORM

Emerson dos Santos Araujo, João Maurício Rosário & Antônio Celso Hunnicutt Cortada

Laboratório de Automação Integrada e Robótica - DPM -FEM/UNICAMP, Campinas - SP, Brasil - E-mail: rosario@dpm.fem.unicamp.br

This work will describe methodologies for integration of elements of the Automation System of Production. This ideas will be applied at several posts of the Industrial Platform to Research, Teaching and Formation (PIPEFA), implemented at UNICAMP into a project of scientific cooperation to the LIISI in France. The objective of the PIPEFA platform is development of methods and tools for automation of small and middle size industry.

Keywords: Automação Industrial, Modeling, Modular Platform, PLC programming, GRAFCET.

COB591 PROJETO AUTOMATIZADO DE MANIPULADORES MECÂNICOS FLEXÍVEIS / AUTOMATED DESIGN OF FLEXIBLE MANIPULATORS

Alcy Rodolfo Dos Santos Carrara

Departamento de Engenharia Elétrica, Faculdade de Engenharia de Joinville - UDESC -Joinville

CEP 89223-100, Joinville, Brazil - E-mail: dee2arsc@dcc.fej.udesc.br

Eduardo André Perondi

Departamento de Engenharia Mecânica, Faculdade de Engenharia - UFRGS - Porto Alegre

CEP 90050-170, Porto Alegre, Brazil - E-mail: perondi@emc.ufsc.br

Industries have suffered with the high operational cost of old industrial robots which are heavy, slow and have low productivity. There is a compromise between weight and rigidity which is the key for the success in the use of industrial manipulators. The ratio of payload to robot weight used to be around 5% and nowadays robots are reaching 10% using lightweight structures. It is proposed a computer tool that based on CAD designs can dynamically simulate a robot manipulator of industrial complexity. The method used is to integrate motion equations using RBSM (``Rigid Body Spring Models'') and finite differences. Geometric nonlinearities originated from the manipulator's mechanism are computed in a stable and economical manner. Stress levels and oscillatory motion can, therefore, be analised and the robot's architecture is rebuilt in the CAD. Another module to be developed for this Flexible Robots CAD is the controller simulator where control actions and actuator dynamics are introduced and analised by the designer.

Keywords: Robô Flexível, Diferenças Finitas, Projeto Automatizado, Robô-CAE./ Flexible Robot, Finite Differences, Automated Design.

COB592 PARALLEL CONTROL OF A TWO-LINK FLEXIBLE ARM

Alcy Rodolfo Dos Santos Carrara

Departamento de Engenharia Elétrica, Faculdade de Engenharia de Joinville - UDESC -Joinville CEP 89223-100, Joinville, Brazil - E-mail: dee2arsc@dcc.fej.udesc.br

Milton Antonio Zaro

Departamento de Engenharia Mecânica, Faculdade de Engenharia - UFRGS - Porto Alegre CEP 90050-170, Porto Alegre, Brazil - E-mail:ZARO@VORTEX.UFRGS.BR

The need for lightweight, fast and accurate robots is evident. Increasing complexity is observed in the mechanisms of control and dynamic models with structural flexibility added. The nonlinear stiffness of the harmonic drive reducer poses very high frequencies that are difficult to control. Joint and link flexibility originate a complex algorithm that may simulate the arm, but cannot be used for control due to real-time control cycle limitations. Economical models can be obtained condensing degrees of freedom. Parallel processors are available which can process complex algorithms with good accuracy in short time. Transputers are used in a parallel controller, developed over an industrial robot platform. A new control strategy is proposed and referred to as Nonlinear Integrated Tabular control (NIT). It allows the calculation of robot tip position in real-time and also active control of oscillations. A test rig was built to confirm results obtained in the analytical simulation. It consists of a two-link elbow arm with flexible joints and a flexible forearm.

Keywords: Flexible Robots, Elbow Arm, Nonlinear Control, Parallel Controller, Transputer./ Robôs Flexíveis, Braço

Cotovelar, Controle Não-Linear, Controlador Paralelo, Transputer.

COB612 SISTEMA MECATRÔNICO PARA SOLDAGEM MULTIPASSES MONITORADO POR VISÃO COMPUTADORIZADA / A VISION ASSISTED MECHATRONIC SYSTEM FOR ARC WELDING

Carlos Eduardo Ferreira Silva, Luís Gonzaga Trabasso

Departamento de Engenharia Aeronáutica e Mecânica - Área de Mecatrônica e Dinâmica de Sistemas - Instituto Tecnológico de Aeronáutica - Centro Tecnológico de Aeronáutica - São José dos Campos - S.P. - CEP12200-000 - E_mail: gonzaga@mec.ita.cta.br

The industrial companies which use extensively the arc welding process seek to improve the productivity of the process through the use of automated systems which yield high quality and repeatibility. When the welding process is made in a multipass fashion, used for instance, in high tichness plates, the performance requirements for the automated systems are even tighter. Some companies which can afford it, solve this problem with a robotic welding unit, constituted by one or more anthropomorphic robots with six degrees of freedom in general, indexing tables and the welding unit itself. Medium sizes companies however, do it with a lower cost mechanical solution which has a displacement unit that drives the welding torch at a constant speed through the plates to be welded. This solution puts a heavy load on the operator who is required to monitor constantly the welding process for welding pass tracking as well as for adjustments of some welding parameters, for instance, the height of the torch. As compared with these two possible approaches, this paper presents an alternative, mechatronic approach for the multipass arc welding process which adds the essential monitoring features to the latter, with a cost that is far less to the former.

Keywords: Soldagem a Arco (Arc Welding) Visão por Computador (Computer Vision), Mecatrônica (Mechatronics), Automação da Manufatura (Manufacturing Automation).

COB642 CARACTERÍSTICAS MECÂNICAS DE UM SISTEMA MÓVEL COM DESLOCAMENTO POR SALTOS / MECHANICAL CHARACTERISTICS OF A MOBILE SYSTEM WITH ADVANCEMENT BY BOUNCES

Sandra Frid, Marc Dahan & Pierre Jacquet

Departamento de Engenharia Mecânica, PUC-Rio,CEP 22453-900, Rio de Janeiro,Brasil, E-mail: sanfrid@mec.puc-rio.br

Laboratoire de Mécanique Appliquée, Université de Franche-Comté, Besançon,França, E-mail:marc.dahan@univ-fcomte.fr

This paper is a contribution to the study of a mode of locomotion allowing robots to displace on artificial or natural soils without loss of speed. In order that, a progression by bonds is suggested. The main two problems posed concern jump trajectory to go from a position to the following and the damping to platform reception on the ground.

Keywords: Damping, jump, mobile robot, robô móvel, salto.

COB645 ANÁLISE DE VARIAÇÃO NA POSIÇÃO E ORIENTAÇÃO DA PLATAFORMA DE STEWART TIPO 3-3 EM FUNÇÃO DE ERROS NOS ATUADORES / 3-3 STEWART PLATFORM POSITION AND ORIENTATION VARIATION ANALYSIS FUNCTION OF ACTUATORS ERRORS

Cláudio Humberto Junqueira de Sousa & João Carlos Mendes Carvalho

Departamento de Engenharia Mecânica, Universidade Federal de Uberlândia, CEP 38400-902 Uberlândia-MG, Brasil

E-mail: jcmendes@ufu.br

In many manipulator tasks the accuracy in positioning of the end-effector is very important. The traditional serial manipulators do not have the required level of accuracy. An alternative is using the parallel structure. A well-known parallel structure is the 3-3 Stewart Platform. The question we pose is: given an error of the six spherical-prismatic-spherical segments, how is the position and orientation errors of the platform? We developed an algorithm that enable us to analyse the shape of the errors. The analysis has been carried out by considering a initial position and orientation of the platform, obtaining the nominal lenght of the SPS segments, using the inverse position kinematic problem. Imposing lenght errors from 0 to 20% to the SPS segments, the new position and orientation of the platform can be obtained using the direct position kinematic equations. Results of the shape of the errors are presented.

Keywords: Estruturas robóticas, Manipulador paralelo, Plataforma de Stewart, Robôs de alta precisão / Robotic structures, Parallel manipulator, Stewart platform, Robot precision

COB646 MODELAGEM DE TRANSPORTADORES VIBRATÓRIOS LINEARES COM EXCITAÇÃO REAL / LINEAR VIBRATORY FEEDERS MODELLING WITH REAL EXCITATION

Roberto de Souza Martins & João Carlos Mendes Carvalho

Laboratório de Automação e Robótica, Departamento de Eng. Mecânica, Univ. Federal de Uberlândia

CEP 38400-902, Uberlândia, Brasil - E-mail: rsouzam@ufu.br ou jcmendes@ufu.br

Vibratory feeders are excellent for sellecting and orienting parts with simple or complex shape. Its efficiency is traduced by the transport velocity of parts on its track, that mainly is function of the track slope, the friction between the parts and the track an the exciter (amplitude, frequence and excitation wave). This work presents the results of the theoretical conveying velocity of an industrial vibratory feeder, using a mathematical model that considers the four movement modes of the parts - backward sliding, forward sliding, flight and at rest - and the real characteristics of the parts, the track and the exciter. The theoretical and experimental mean conveying velocity are compared.

Keywords: Vibratory Feeders, Automation, Handling, Handling Materials / Transportadores Vibratórios, Automação, Manipulação, Manipulação de Materiais

COB818 DETERMINAÇÃO DO NÚMERO DE GRAUS DE LIBERDADE DA ESTRUTURA CARTESIANA TOTALMENTE PARALELA / NUMBER OF DEGREES OF FREEDOM DETERMINATION FOR A FULLY PARALLEL CARTESIAN STRUCTURE

Bezerra, Carlos André Dias & João Carlos Mendes Carvalho

Departamento de Engenharia Mecânica, Universidade Federal do Ceará - UFC - Campus do Pici

CEP 60455-760 Fortaleza, Ceará, Brasil - E-mail: cadb@ufc.br

Departamento de Engenharia Mecânica, Universidade Federal de Uberlândia - UFU - Campus Santa Mônica

CEP 38400-000 Uberlândia, Minas Gerais, Brasil - E-mail: jcmendes@ufu.br

In spite of being widely used, serial robotic structures still present problems due to their own constitution. One alternative to using serial structures is the application of so-called parallel structures made of kinematic closed loops. In the study of parallel structures, determination of number of degrees of freedom is of paramount importance since this number determines the amount of independent parameters needed to define the spacial configuration of the structure. These parameters are used to formulate the equations of the kinematics model. This work presents three methods to obtain the number of degrees of freedom for a Fully Parallel Cartesian Structure. One of the methods allows classification of the type of parallel structure.

Keywords: Parallel Manipulator, Degrees of Freedom, Robotics, Spacial Structures - Manipulador Paralelo, Graus de Liberdade, Robótica, Estruturas Espaciais.

COB979 ANÁLISE E DESENVOLVIMENTO EXPERIMENTAL DE UM ACIONAMENTO EM MICROPASSO / ANALISYS AND EXPERIMANTAL DEVELOPMENT OF A MICROSTEPPING DRIVER

Solly A. Segenreich & Renato Viveiros Lima

Departamento de Engenharia Mecânica - PUC-RIO - Rua Marq. de São Vicente 225 - Rio de Janeiro - Brasil - CEP: 22.453-900

The present paper reports the development of an inexpensive and reliable microstepping driver to be used with 2-phase step motors. Increased resolution on positioning and low vibration level are the main advantages obtained in motor operation. The paper presents a discussion on the subject and first hand experimental results.

Keywords: Step motors, Drivers, Microstepping

COB1168 ROBOT RSA2

O. Daniel Morán, Gerardo Artola, E. Pablo del Hoyo, David Novillo

Universidad Tecnológica Nacional - Facultad Regional Córdoba, Centro Universitario de Desarrollo en Automación y Robótica

C. P. 5009 - Córdoba - Argentina - E-mail: cudar@ sa.frc.utn.edu.ar

This work is being made within the BID-CONICET project called "Modeling, simulation and control of manufacturing flexible cells". It consists of the design and construction of a five degrees of freedom anthropomorphic robot. Among the main features, the manipulator has a trajectory control. The movements of each axes are independent, with CC motors for the first three axes and stepper motors for the last ones. The movement control is obtained from kinematics and dynamic analysis and trajectory generation routines. The control is implemented with a PC and a digital interface based on microcontrolers. The design of this digital interface has been made in order to be able to control some auxiliary devices (e.g., material handling systems), which can interact together with the robot. This interface allows to control a more than five axes robot. The mechanic design has been implemented with Autocad (in 2 and 3 dimensions). The manufacturing as made with CNC machines and using a CAD-CAM software. The high-level control and simulation software, which runs on a PC, implements a Virtual Reality environment.

Keywords: Robótica - CAD-CAM - Control - Diseño - Desarrollo.

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