SVIBOR - Project code: 2-08-171

MINISTRY OF SCIENCE AND TECHNOLOGY

Strossmayerov trg 4, HR - 10000 ZAGREB
tel.: +385 1 459 44 44, fax: +385 1 459 44 69
E-mail: ured@znanost.hr

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Project code: 2-08-171


CONTROL ALGORITHMS OF ROBOTS AND FLEXIBLE MANUFACTURING SYSTEMS


Main researcher: NOVAKOVIĆ, BRANKO (33541)



Assistants
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


  1. Name of project: 2-07-176 FLEKSIBILNA AUTOMATIZACIJA PROIZVODNJE I INDUSTRIJSKI ROBOTI
    Name of institution: Fakultet strojarstva i brodogradnje
    City: 10000 - Zagreb, Croatia

  2. Name of project: 2-08-187 NEURONSKE MREŽE U MODELIRANJU I UPRAVLJANJU SISTEMIMA
    Name of institution: Fakultet strojarstva i brodogradnje
    City: 10000 - Zagreb, Croatia

  3. Name of project: 2-08-188 ERGONOMSKA ANTROPODINAMIČKA ANALIZA FIZIČKOG RADA
    Name of institution: Fakultet strojarstva i brodogradnje
    City: 10000 - Zagreb, Croatia


OTHER ACHIEVEMENTS


  1. Name: Mikroprocesorsko upravljanje-Upute za laboratorijske vježbe
    Type of achievement: Other
    Authors: Deur Joško

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