Servo-actuated mechanisms are increasingly substituting fully mechanical drives in order to increase flexibility and reconfigurability of modern automatic machines. The overall servomechanism performance, especially in the case of high-dynamic motions, is the direct consequence of several interacting factors, namely electric motor and linkage dynamics, controller efficacy, and requested motion law. In particular, Point-To-Point (PTP) trajectories are usually designed in order to comply with technological constraints, imposed by the required interaction with the handled product, and to maximize some optimality criterion such as, for instance, energy efficiency or limited actuation torques. In this context, the present paper proposes a novel method for generating either energy-optimal or torque-optimal PTP motions described by piecewise fifth-order polynomials. The optimization cost functions are based on a virtual prototype of the system, which comprises behavioral models of power converter, controller and electric motor coupled with the mechanical system. Results are then compared with experimental data obtained on a physical prototype. The comparison quantitatively shows that better-behaved PTP trajectories can be designed by including the dynamic contribution of each sub-system component.

On Designing Optimal Trajectories for Servo-Actuated Mechanisms Through Highly Detailed Virtual Prototypes / Pellicciari, Marcello; Berselli, Giovanni; D., Meike; F., Balugani; Leali, Francesco. - ELETTRONICO. - (2013), pp. 1780-1785. (Intervento presentato al convegno 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013 tenutosi a Wollongong, Australia nel 9-12 July) [10.1109/AIM.2013.6584355].

On Designing Optimal Trajectories for Servo-Actuated Mechanisms Through Highly Detailed Virtual Prototypes

PELLICCIARI, Marcello;BERSELLI, Giovanni;LEALI, Francesco
2013

Abstract

Servo-actuated mechanisms are increasingly substituting fully mechanical drives in order to increase flexibility and reconfigurability of modern automatic machines. The overall servomechanism performance, especially in the case of high-dynamic motions, is the direct consequence of several interacting factors, namely electric motor and linkage dynamics, controller efficacy, and requested motion law. In particular, Point-To-Point (PTP) trajectories are usually designed in order to comply with technological constraints, imposed by the required interaction with the handled product, and to maximize some optimality criterion such as, for instance, energy efficiency or limited actuation torques. In this context, the present paper proposes a novel method for generating either energy-optimal or torque-optimal PTP motions described by piecewise fifth-order polynomials. The optimization cost functions are based on a virtual prototype of the system, which comprises behavioral models of power converter, controller and electric motor coupled with the mechanical system. Results are then compared with experimental data obtained on a physical prototype. The comparison quantitatively shows that better-behaved PTP trajectories can be designed by including the dynamic contribution of each sub-system component.
2013
2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
Wollongong, Australia
9-12 July
1780
1785
Pellicciari, Marcello; Berselli, Giovanni; D., Meike; F., Balugani; Leali, Francesco
On Designing Optimal Trajectories for Servo-Actuated Mechanisms Through Highly Detailed Virtual Prototypes / Pellicciari, Marcello; Berselli, Giovanni; D., Meike; F., Balugani; Leali, Francesco. - ELETTRONICO. - (2013), pp. 1780-1785. (Intervento presentato al convegno 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013 tenutosi a Wollongong, Australia nel 9-12 July) [10.1109/AIM.2013.6584355].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11380/936097
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