Compensation for servo drift in industrial robots

Jae W. Jeon; Soon Ho Park; Sungkwun Kim

doi:10.1109/ETFA.1992.683325

Compensation for servo drift in industrial robots

Jae W. Jeon
, Soon Ho Park
, Sungkwun Kim

Production Engineering Division

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

A control technique is proposed for performing the compensation for servo drift due to a wide range of temperature fluctuation without any overshoot of the robot end-effector. First, the effect of servo drift on the position of the end-effector is estimated and the compensation for servo drift based on the estimation is performed. Thus, an integral action need not to compensate for the whole servo drift but to compensate the difference between servo drift and its estimation. Since the amount of this difference is very small comparing with that of the whole servo drift, an integral with a small size of limiter, which prevents the integral wind-up, is enough to reduce the effect of servo drift on the end-effector position to null. An application result to an industrial robot of the proposed control is illustrated.

Original language	English
Title of host publication	IEEE International Workshop on Emerging Technologies and Factory Automation
Subtitle of host publication	Technology for the Intelligent Factory - Proceedings, ETFA 1992
Editors	R. Zurawski, T.S. Dillon
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	613-618
Number of pages	6
ISBN (Electronic)	0780308867
DOIs	https://doi.org/10.1109/ETFA.1992.683325
State	Published - 1992
Externally published	Yes
Event	1992 IEEE International Workshop on Emerging Technologies and Factory Automation, ETFA 1992 - Melbourne, Australia Duration: 11 Aug 1992 → 14 Aug 1992

Publication series

Name	IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
Volume	1992-August
ISSN (Print)	1946-0740
ISSN (Electronic)	1946-0759

Conference

Conference	1992 IEEE International Workshop on Emerging Technologies and Factory Automation, ETFA 1992
Country/Territory	Australia
City	Melbourne
Period	11/08/92 → 14/08/92

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

Access to Document

10.1109/ETFA.1992.683325

Cite this

Jeon, J. W., Park, S. H., & Kim, S. (1992). Compensation for servo drift in industrial robots. In R. Zurawski, & T. S. Dillon (Eds.), IEEE International Workshop on Emerging Technologies and Factory Automation: Technology for the Intelligent Factory - Proceedings, ETFA 1992 (pp. 613-618). Article 683325 (IEEE International Conference on Emerging Technologies and Factory Automation, ETFA; Vol. 1992-August). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ETFA.1992.683325

Jeon, Jae W. ; Park, Soon Ho ; Kim, Sungkwun. / Compensation for servo drift in industrial robots. IEEE International Workshop on Emerging Technologies and Factory Automation: Technology for the Intelligent Factory - Proceedings, ETFA 1992. editor / R. Zurawski ; T.S. Dillon. Institute of Electrical and Electronics Engineers Inc., 1992. pp. 613-618 (IEEE International Conference on Emerging Technologies and Factory Automation, ETFA).

@inproceedings{31cd84e1702b46eab05d5ac489edc415,

title = "Compensation for servo drift in industrial robots",

abstract = "A control technique is proposed for performing the compensation for servo drift due to a wide range of temperature fluctuation without any overshoot of the robot end-effector. First, the effect of servo drift on the position of the end-effector is estimated and the compensation for servo drift based on the estimation is performed. Thus, an integral action need not to compensate for the whole servo drift but to compensate the difference between servo drift and its estimation. Since the amount of this difference is very small comparing with that of the whole servo drift, an integral with a small size of limiter, which prevents the integral wind-up, is enough to reduce the effect of servo drift on the end-effector position to null. An application result to an industrial robot of the proposed control is illustrated.",

author = "Jeon, \{Jae W.\} and Park, \{Soon Ho\} and Sungkwun Kim",

note = "Publisher Copyright: {\textcopyright} 1992 IEEE.; 1992 IEEE International Workshop on Emerging Technologies and Factory Automation, ETFA 1992 ; Conference date: 11-08-1992 Through 14-08-1992",

year = "1992",

doi = "10.1109/ETFA.1992.683325",

language = "English",

series = "IEEE International Conference on Emerging Technologies and Factory Automation, ETFA",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "613--618",

editor = "R. Zurawski and T.S. Dillon",

booktitle = "IEEE International Workshop on Emerging Technologies and Factory Automation",

}

Jeon, JW, Park, SH & Kim, S 1992, Compensation for servo drift in industrial robots. in R Zurawski & TS Dillon (eds), IEEE International Workshop on Emerging Technologies and Factory Automation: Technology for the Intelligent Factory - Proceedings, ETFA 1992., 683325, IEEE International Conference on Emerging Technologies and Factory Automation, ETFA, vol. 1992-August, Institute of Electrical and Electronics Engineers Inc., pp. 613-618, 1992 IEEE International Workshop on Emerging Technologies and Factory Automation, ETFA 1992, Melbourne, Australia, 11/08/92. https://doi.org/10.1109/ETFA.1992.683325

Compensation for servo drift in industrial robots. / Jeon, Jae W.; Park, Soon Ho; Kim, Sungkwun.
IEEE International Workshop on Emerging Technologies and Factory Automation: Technology for the Intelligent Factory - Proceedings, ETFA 1992. ed. / R. Zurawski; T.S. Dillon. Institute of Electrical and Electronics Engineers Inc., 1992. p. 613-618 683325 (IEEE International Conference on Emerging Technologies and Factory Automation, ETFA; Vol. 1992-August).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Compensation for servo drift in industrial robots

AU - Jeon, Jae W.

AU - Park, Soon Ho

AU - Kim, Sungkwun

PY - 1992

Y1 - 1992

N2 - A control technique is proposed for performing the compensation for servo drift due to a wide range of temperature fluctuation without any overshoot of the robot end-effector. First, the effect of servo drift on the position of the end-effector is estimated and the compensation for servo drift based on the estimation is performed. Thus, an integral action need not to compensate for the whole servo drift but to compensate the difference between servo drift and its estimation. Since the amount of this difference is very small comparing with that of the whole servo drift, an integral with a small size of limiter, which prevents the integral wind-up, is enough to reduce the effect of servo drift on the end-effector position to null. An application result to an industrial robot of the proposed control is illustrated.

AB - A control technique is proposed for performing the compensation for servo drift due to a wide range of temperature fluctuation without any overshoot of the robot end-effector. First, the effect of servo drift on the position of the end-effector is estimated and the compensation for servo drift based on the estimation is performed. Thus, an integral action need not to compensate for the whole servo drift but to compensate the difference between servo drift and its estimation. Since the amount of this difference is very small comparing with that of the whole servo drift, an integral with a small size of limiter, which prevents the integral wind-up, is enough to reduce the effect of servo drift on the end-effector position to null. An application result to an industrial robot of the proposed control is illustrated.

UR - https://www.scopus.com/pages/publications/85067671375

U2 - 10.1109/ETFA.1992.683325

DO - 10.1109/ETFA.1992.683325

M3 - Conference contribution

AN - SCOPUS:85067671375

T3 - IEEE International Conference on Emerging Technologies and Factory Automation, ETFA

SP - 613

EP - 618

BT - IEEE International Workshop on Emerging Technologies and Factory Automation

A2 - Zurawski, R.

A2 - Dillon, T.S.

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 1992 IEEE International Workshop on Emerging Technologies and Factory Automation, ETFA 1992

Y2 - 11 August 1992 through 14 August 1992

ER -

Jeon JW, Park SH, Kim S. Compensation for servo drift in industrial robots. In Zurawski R, Dillon TS, editors, IEEE International Workshop on Emerging Technologies and Factory Automation: Technology for the Intelligent Factory - Proceedings, ETFA 1992. Institute of Electrical and Electronics Engineers Inc. 1992. p. 613-618. 683325. (IEEE International Conference on Emerging Technologies and Factory Automation, ETFA). doi: 10.1109/ETFA.1992.683325

Compensation for servo drift in industrial robots

Abstract

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