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Modeling and Control for Precision R...

Bazzoli, Patrick Robert Thomas.

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Modeling and Control for Precision Robotic Machining.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Modeling and Control for Precision Robotic Machining./
Author:	Bazzoli, Patrick Robert Thomas.
Published:	Ann Arbor : ProQuest Dissertations & Theses, : 2024,
Description:	64 p.
Notes:	Source: Dissertations Abstracts International, Volume: 85-12, Section: B.
Contained By:	Dissertations Abstracts International85-12B.
Subject:	Robotics. -
Online resource:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=31146397
ISBN:	9798383098257

Modeling and Control for Precision Robotic Machining.
Bazzoli, Patrick Robert Thomas.

Modeling and Control for Precision Robotic Machining. - Ann Arbor : ProQuest Dissertations & Theses, 2024 - 64 p.

Source: Dissertations Abstracts International, Volume: 85-12, Section: B.

Thesis (Ph.D.)--Missouri University of Science and Technology, 2024.

Robots are used in a wide variety of manufacturing applications, but machining applications in which robots can excel are limited by their lower accuracy and stiffness relative to traditional CNC machines. This work is composed of two parts: one to evaluate a robot's accuracy and one to compensate for the vibrations of the robot due to its lower stiffness.In order to evaluate whether a robot has the necessary accuracy to perform a given machining task, Paper 1 discusses a novel Model Invalidation method. This methodology provides a statistical framework as well as a measurement strategy for determining if a robot is unable to meet a given accuracy requirement. This paper shows through simulation that the Model Invalidation method more accurately evaluates the error in a robot model as compared to other commonly used methods for accuracy identification. Additionally, the Model Invalidation method is shown in implementation on an experimental robot system and results are discussed.While chatter has always been a widely studied topic in the field of machining, due to their low stiffness, chatter in robots is typically due to deflection of the robot arm itself rather than the deflection of the tool or part. In order to reduce the robot deflections, Paper 2 discusses a structure for designing a vibration suppression controller using an H∞ framework. Using this framework, control algorithms are designed for an experimental robot machining system to suppress vibrations in both one and two directions, and the results of these controls are discussed.

ISBN: 9798383098257Subjects--Topical Terms:

519753
Robotics.
Subjects--Index Terms:

Chatter

Modeling and Control for Precision Robotic Machining.
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245 1 0 $a Modeling and Control for Precision Robotic Machining.
260 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 2024
300 $a 64 p.
500 $a Source: Dissertations Abstracts International, Volume: 85-12, Section: B.
500 $a Advisor: Brisow, Douglas A.
502 $a Thesis (Ph.D.)--Missouri University of Science and Technology, 2024.
520 $a Robots are used in a wide variety of manufacturing applications, but machining applications in which robots can excel are limited by their lower accuracy and stiffness relative to traditional CNC machines. This work is composed of two parts: one to evaluate a robot's accuracy and one to compensate for the vibrations of the robot due to its lower stiffness.In order to evaluate whether a robot has the necessary accuracy to perform a given machining task, Paper 1 discusses a novel Model Invalidation method. This methodology provides a statistical framework as well as a measurement strategy for determining if a robot is unable to meet a given accuracy requirement. This paper shows through simulation that the Model Invalidation method more accurately evaluates the error in a robot model as compared to other commonly used methods for accuracy identification. Additionally, the Model Invalidation method is shown in implementation on an experimental robot system and results are discussed.While chatter has always been a widely studied topic in the field of machining, due to their low stiffness, chatter in robots is typically due to deflection of the robot arm itself rather than the deflection of the tool or part. In order to reduce the robot deflections, Paper 2 discusses a structure for designing a vibration suppression controller using an H∞ framework. Using this framework, control algorithms are designed for an experimental robot machining system to suppress vibrations in both one and two directions, and the results of these controls are discussed.
590 $a School code: 0587.
650 4 $a Robotics. $3 519753
650 4 $a Mechanics. $3 525881
650 4 $a Mechanical engineering. $3 649730
653 $a Chatter
653 $a Hypothesis testing
653 $a Modeling
653 $a Validation
653 $a Vibrations
690 $a 0771
690 $a 0346
690 $a 0548
710 2 $a Missouri University of Science and Technology. $b Mechanical Engineering. $3 2102931
773 0 $t Dissertations Abstracts International $g 85-12B.
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792 $a 2024
793 $a English
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