Galil motion control robotic symposium presentation-linear motion from non-linear robots
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The document discusses non-linear robotic motion control solutions. It describes how Galil Motion Control provides controllers for various types of non-linear robots like SCARA and delta robots. It covers topics like selecting the robot topology, designing each joint, motor selection, forward and inverse kinematics equations, vibration reduction techniques, and examples of implementing motion control for SCARA robots.
Galil motion control robotic symposium presentation-linear motion from non-linear robots
- 1. March 2018 Linear Motion from non-Linear Robots Galil Motion Control sales@electromate.com www.electromate.com ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 2. Overview of Galil Motion Control: - Found in 1983 – 1st to introduce motion control by μP - Introduced Ethernet based motion controller in 1999 - Over 750,000 controllers operating around the world - AC / DC Servo, Step motor, Piezo motor & Hydraulic Galil Motion Control sales@electromate.com www.electromate.com ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 3. Robot – Two classes of Robots: - Linear axes with Cartesian coordinates - Non-linear topology with Cartesian coordinates Galil Motion Control sales@electromate.com www.electromate.com ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 4. Samples of Non-Linear Robotic solutions implemented - SCARA robot - Two axes manipulator arm for X-Y motion - Two axes concentric linkage (Frog leg) - Parallel axes system (Also known as H or T gantry) - Delta Robot (four axes) - Hybrid XY with Tripod and Rotary (six axes) - Stewart Platform (six axes) - Multi-joint articulated arm in semiconductor fab - Bevel control on motion path for Edge polishing applications Galil Motion Control sales@electromate.com www.electromate.com ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 5. Process flow and Topics of discussion - Select Topology for the requirements - Design of each joint with inertia / load calculations - Motor / gear box selection – Inertia matching - Selection of Power Drivers - Forward Kinematics Equations for calculation of the Cartesian space from motor position - Inverse Kinematics Equations for calculation of motor position from the Cartesian space - Selection of Motion Controller – Centralized vs EtherCAT - Tuning of each motor for optimum performance Galil Motion Control sales@electromate.com www.electromate.com ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 6. Process flow and Topics of discussion - Vibration detection and isolation – Is it detected via the Feedback sensor? - Accelerometer can be used at the end-effector to measure the vibration frequency - Optimize PID Filters along with Notch / Pole to address higher frequency vibrations - Lower frequency addressed from the input Profile with smoothing filter - Dynamic change of system variables such as inertia, friction, natural frequencies, etc. - Piece wise linearization or continuous adjustment as function of position(s) - Example of Gravity as arm length change - Change of Mass or Inertia - Working against Spring (Linear device) results in non-linear system response Galil Motion Control sales@electromate.com www.electromate.com ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 7. Vibration Reduction - Smooth motion along with speed are important - Motion profile using high acceleration / deceleration with low pass to filter discontinuity on velocity - Notch filter on profile to suppress natural frequency at the end-effector - Dynamic speed change to improve smoothness along with cycle time Galil Motion Control sales@electromate.com www.electromate.com ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 8. Example of SCARA robot - Forward transformation using absolute encoders on the motor - Commands given as target position with X, Y, Z and Theta (Q ) orientation in the Cartesian space - Inverse Kinematics to command each motor on target path via calculating Shoulder Q1, Elbow Q2, End-Effector Q4 and Vertical displacement d3 - Lets simplify and call motor at the shoulder (S), at the elbow (E), Vertical position (V) and end-effector (W) to differentiate from the Cartesian space reference Galil Motion Control sales@electromate.com www.electromate.com ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 9. SCARA robot – Simplified Drawing - The Forward Kinematic Equations are: Shoulder (S), Elbow (E), Vertical position (V) and End-Effector (W) are read X = L1 COS (S) + L2 COS (S + E) Y = L1 SIN (S) + L2 SIN (S + E) Tool Orientation Q = S + E + W Vertical position Z = V + Z0 where Z0 is offset at home Based on the motor positions of S, E, W and V absolute reference in Cartesian space is calculated during initialization Galil Motion Control sales@electromate.com www.electromate.com ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 10. SCARA robot – Simplified Drawing - The Inverse Kinematic Equations are: Tool Orientation W = Q - S – E where Q is the end-effector tip orientation Vertical position V = Z - Z0 where Z0 is offset at home Motors S, E, W and V are commanded to reach target position. Galil Motion Control sales@electromate.com www.electromate.com ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 11. Digital Filter Galil Motion Control sales@electromate.com www.electromate.com ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 12. Amplifiers or Drivers for Step motors - Amplifiers provide 16-bit PWM for motor current (Torque ripple from switching) - High bandwidth amplifiers with up to 6 kHz current loop bandwidth - Stepper drivers – delivery of 256 microsteps/step resulting 51,200 microsteps per rev - Special step motor smoothing filter available on the controller (filter on frequency generation) Galil Motion Control sales@electromate.com www.electromate.com ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 13. Galil Motion Control Internal Drive EtherCAT Drive • Instantaneous communications • Encoder feedback from motor to controller • Common ground between all components • Centralized cabling • Axes coupling – decoupling for isolation • Cost advantage for centralized single processor solution • Ideal for less than 2 meters between drives • Single CAT5 Ethernet Cable reduces cabling costs • Loop closed on the drive • Position data is sent to the drive via digital signal • Encoder feedback sent to drive and relayed to controller • Increased total cost with a dedicated processor per node • Possible option for more than 3 meters to drives sales@electromate.com www.electromate.com ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 14. Product Life Cycle considerations - Product life cycle greater than 20 years - Average repair / service of product for 25+ years - Obsolescence of parts does not effect customer’s production cycle - Galil is committed to provide plug-in replacement with Form-Fit-&-Functional equivalent - 18 months warranty on the controllers and amplifiers Galil Motion Control sales@electromate.com www.electromate.com ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 15. Product Life Cycle considerations - Over 100 man years of experience to help solve your complex motion control problems to support from initial design stage through the production process - Best value – anywhere : guaranteed by the Chairman and Co-Founder, Jacob Tal http://www.galil.com/order/price-guarantee - Customization with fast turn around - Firmware changes (Mechanical systems – Kinematics) - Hardware changes (Feedback sensors, motors) - Software (OS, SCADA systems, development platforms) Galil Motion Control sales@electromate.com www.electromate.com ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
- 16. Thank You! - Question? Send the questions to support@galil.com or call (916) 626-0101 Galil Motion Control sales@electromate.com www.electromate.com ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: