Computer-aided design of advanced control algorithms for industrial robotics: an overview of ESPRIT project SACODY

Abstract

Abstract Project SACODY focuses on the development of techniques and tools which are necessary for the implementation of advanced controls for high-speed industrial robots. Specifically, all mechanical manipulators exhibit at high speed coupled dynamic flexions and torsions which limit their performance and can be reduced or suppressed by appropriate control actions. Issues being addressed in project SACODY deal with the development of modelling, identification and control methods and software, constituting a complete set of tools needed to design adaptive new control actions. The performances achieved by new control are tested on laboratory models and will be demonstrated at the end of the project on an industrial robot. Major outputs of the project are techniques, their implementation into CAD software, and their implementation in a robot controller for test on an industrial robot. This paper outlines the objectives and some of the current achievements of the project.