CONTROL ALGORITHMS OF ROBOTS AND FLEXIBLE MANUFACTURING SYSTEMS
Main researcher
: NOVAKOVIĆ, BRANKO (33541) Assistants
SKALICKI, BOŽIDAR (43430)
RASTOVIĆ, DANILO (106700)
DEUR, JOŠKO (174020)
MUHASILOVIĆ, TARIK (108305)
MAJETIĆ, DUBRAVKO (162406)
GRILEC, JOSIP (14562)
CRNEKOVIĆ, MLADEN (128460)
ŠURINA, TUGOMIR (48562)
LIŠČIĆ, IGOR (900479)
BLAŽIČEVIĆ, NENAD (900901)
Type of research: applied Duration from: 01/01/91. to 12/31/96. Papers on project (total): 87
Papers on project quoted in Current Contents: 7
Institution name: Fakultet strojarsva i brodogradnje, Zagreb (120) Department/Institute: Automation and measurement department, Mechanical automation part, Laboratory of automation and robotics Address: Lučićeva 5, P.O.B. 194, HR-10000 Zagreb, Hrvatska (Croatia) City: 10000 - Zagreb, Croatia
Communication
Phone: 385 (0)1 01-6111-944
Fax: 385 (0)1 01-514-535
E-mail: branko.novakovic@x400.srce.hr
Summary: In this project, numbered by 2-08-171, modern control
algorithms of industrial robots, machine tools, and flexible manufacturing
systems are considered. The important segments of this research are as
follows:(i) time-varying and adaptive robot control algorithms, (ii) an
optimal trajectory planning of robot motion, (iii) vector's control of
asynchronous motors as robot actuators, (iiii) machine tool control
algorithms based on the full dynamic model of the machine tool, (iiiii) an
inverse kinematic problem of the five-axes machine tool, and finally
(iiiiii) dynamic models and control algorithms of flexible manufacturing
systems and cells. Beside of the classical control methods of technical
systems, the new control techniques have been used: (j) artificial neural
networks for identification and parallel processing control of robots and
flexible manufacturing systams, (jj) Petri nets for dynamic modelling and
control of discrete events in manufacturing systems, (jjj) fuzzy control
of robots and machine tools for a simplification of control algorithms,
and (jjjj) new adaptive control algorithms in order to reach the high
degree of accuracy and relative, exponential and practical stability of
robots and machine tools motions. The main research results of this
project are published as follows: 8 papers in journals, 4 scientific
books, 5 papers in scientific books, 50 papers in Proceedings of
Conferences and Symposiums, 1 doctoral dissertation, and 6 master
scientific works.
Keywords: Adaptive robot control, artificial neural networks, control of flexible manufacturing systems, external linearization, fuzzy control, hierarchical coordinators, machine tools control, nonlinear control, optimal trajectory planning, Petri nets, total dynamic models of robots and machine tools, vector's control of asynchronous motors as robot actuators.
Research goals: The main goals of the research in this project are
related to the fields of the analysis and synthesis of control processes
in industrial robots, machine tools, and flexible manufacturing systems
(FMS). In the field of industrial robots the main goals are: a developmet
of adaptive control algorithms, application of the concept of external
linearization, optimal trajectory planning, and development of vector
control of asynchronous motors. In the field of the machine tool control
the goal is to develop modern control algorithms based on the full
dynamic model of machine tool, in order to minimize the processing errors,
and to maximize the processing quality and profit. For this purpose, the
goal is to find out the solutions of the inverse kinematic problems of the
five-axes machine tools for processing of different surfaces, and to
develop a nonlinear dynamic model of the machine tool. In the field of FMS
control, it is necessary to develop the corresponding dynamic model of the
flexible structure, and hierarchical coordinator for control of FMS
subsystems (machine tools, robots, transmission lines, lasers, assembly
cell, automatic measuring, and so on). Generally speaking, the global goal
is to master with the dynamics and control algorithms of robots, machine
tools and FMS. From this project it is expected an important contribution
to control theory and its applications to control of technical systems.
In this sense, the main research results are published as follows: 8
papers in journals, 4 scientific books, 5 papers in scientific books, 50
papers in Proceedings of Conferences and Symposiums, 1 doctoral
dissertation, and 6 master scientific works.
COOPERATION - PROJECTS
Name of project
: 2-07-176 FLEKSIBILNA AUTOMATIZACIJA PROIZVODNJE
I INDUSTRIJSKI ROBOTI Name of institution: Fakultet strojarstva i brodogradnje City: 10000 - Zagreb, Croatia
Name of project
: 2-08-187 NEURONSKE MREŽE U MODELIRANJU I
UPRAVLJANJU SISTEMIMA Name of institution: Fakultet strojarstva i brodogradnje City: 10000 - Zagreb, Croatia
Name of project
: 2-08-188 ERGONOMSKA ANTROPODINAMIČKA ANALIZA
FIZIČKOG RADA Name of institution: Fakultet strojarstva i brodogradnje City: 10000 - Zagreb, Croatia
OTHER ACHIEVEMENTS
Name
: Mikroprocesorsko upravljanje-Upute za laboratorijske
vježbe Type of achievement: Other Authors: Deur Joško Other information about the project.