Self-balancing manual manipulators are devices that countervail the weight of a load that must be manually handled and moved by a human operator. Standard manipulators are made of a framework with an electric motor on the top and a spool connected to the motor shaft through a transmission gear. The load is hung by a handling device connected to a metallic rope wound on the spool. The device considered in this paper, in its current layout, is endowed with a load cell that measures the load weight and is controlled in an open loop. A new layout has been designed, which is not including the weighting load cell and is feedback controlled. The load’s counterbalance and movement are obtained by a velocity closed loop control algorithm designed using a direct design method, the Virtual Reference Feedback Tuning (VRFT). VRFT provides controller parameters tuning in a completely automatic way based on a single I/O batch measurement on the plant. Moreover, the elimination of the load weight transducer causes issues to some handling devices that need weight measurements to attach and detach the load. So, a load mass observer has been designed using a gravitational torque estimator, which is an enhanced version of standard disturbance torque observer for electric motors.

Direct design of a velocity controller and load disturbance estimation for a self-balancing industrial manual manipulator

PREVIDI, Fabio;FICO, Federico;BELLOLI, Damiano;
2012-01-01

Abstract

Self-balancing manual manipulators are devices that countervail the weight of a load that must be manually handled and moved by a human operator. Standard manipulators are made of a framework with an electric motor on the top and a spool connected to the motor shaft through a transmission gear. The load is hung by a handling device connected to a metallic rope wound on the spool. The device considered in this paper, in its current layout, is endowed with a load cell that measures the load weight and is controlled in an open loop. A new layout has been designed, which is not including the weighting load cell and is feedback controlled. The load’s counterbalance and movement are obtained by a velocity closed loop control algorithm designed using a direct design method, the Virtual Reference Feedback Tuning (VRFT). VRFT provides controller parameters tuning in a completely automatic way based on a single I/O batch measurement on the plant. Moreover, the elimination of the load weight transducer causes issues to some handling devices that need weight measurements to attach and detach the load. So, a load mass observer has been designed using a gravitational torque estimator, which is an enhanced version of standard disturbance torque observer for electric motors.
journal article - articolo
2012
Previdi, Fabio; Fico, Federico; Savaresi, SERGIO MATTEO; Belloli, Damiano; Pesenti, Ivan
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/10446/27667
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