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UID:event-55@tuemeche.nl
DTSTAMP:20261007T234715Z
DTSTART;TZID=Europe/Amsterdam:20261008T140000
DTEND;TZID=Europe/Amsterdam:20261008T163000
SUMMARY:Motion and Vibration Control of a Robot on a Compliant Support
DESCRIPTION:Speaker: Bart Bergers\nHost: Simon Eugster\n\nThis thesis inv
 estigates control strategies for improving the accuracy of a welding robo
 t mounted on a compliant support. The research is motivated by robotic we
 lding applications in shipbuilding\, where in the future robots can be po
 sitioned using boom-like structures. Vibration and movement of the suppor
 t structure can however compromise welding accuracy. To study this proble
 m\, a five-bar robot with a single vertical compliant degree of freedom w
 as developed as an experimental setup. Analytical modelling\, multibody s
 imulation\, and physical experiments were used to examine the influence o
 f mechanism mass\, support stiffness\, and trajectory duration. In this w
 ay\, four control strategies were evaluated: encoder-based base-motion co
 mpensation\, IMU-based acceleration feedforward\, zero-vibration input sh
 aping\, and zero-delay input shaping. The results show that structural co
 mpliance increases world-frame tracking error\, particularly when the com
 manded motion excites the dominant structural mode. Encoder-based compens
 ation provides the most consistent improvement\, while acceleration feedf
 orward has a limited effect. Input shaping reduces vibration at the cost 
 of increased movement time\, whereas zero-delay input shaping preserved t
 he original duration but is sensitive to operating conditions. Overall\, 
 the results show that tracking accuracy can be improved using the robotâ€
 ™s existing actuators\, although the achievable improvement depends on th
 e system dynamics\, trajectory\, control delay and sensors.
LOCATION:Gemini - North 0.505
URL:https://tuemeche.nl/peoplepages/event.php?id=55
CATEGORIES:MSc Thesis Defense
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