Analytical/Numerical Modelling of Two Parallel Robots as Laser Calibration Instruments Controlled by Classical/Intelligent Schemes

作     者：Ricardo Zavala-Yoe Ricardo A. Ramirez-Mendoza Daniel Chaparro-Altamirano JavierRuiz-Garcia 

作者机构：Tecnologico de Monterrey Escuela de lngenieriay Ciencias Calle del Puente 222 Ejidos de Huipulco 14380 Mexico City Computer Science Department Columbia University New York USA 

出 版 物：《Journal of Control Science and Engineering》 (控制科学与工程（英文版）)

年 卷 期：2015年第3卷第2期

页      面：64-78页

学科分类：0711[理学-系统科学] 07[理学] 08[工学] 070105[理学-运筹学与控制论] 081101[工学-控制理论与控制工程] 071101[理学-系统理论] 0811[工学-控制科学与工程] 0701[理学-数学] 

主　　题：Parallel robots laser calibration classical and al-controllers. 

摘      要：Industrial metrology deals with measurements in production environment. It concerns calibration procedures as well as control of measurement processes. Measuring devices have been evolving from manual theodolites, electronic theodolites, robotic total stations, to a relatively new kind of laser-based systems known as laser trackers. Laser trackers are 3D coordinate measuring devices that accurately measure large （and relatively distant） objects by computing spatial coordinates of optical targets held against those objects. In addition, laser trackers are used to align truthfully large mechanical parts. However, such aligning can be done in moving parts, for instance during robot calibration in a welding line. In this case, serial robots are controlled in order to keep a prescribed trajectory to accomplish its task properly. Nevertheless, in spite of a good control algorithm design, as time goes by, deviations appear and a calibration process is necessary. It is well known that laser tracker systems are produced by very well established enterprises but their laser products may result expensive for some （small） industries. We offer two parallel robot-based laser tracker systems models whose implementation would result cheaper than sophisticated laser devices and takes advantage of the parallel robot bondages as accuracy and high payload. The types of parallel robots evaluated were 3-SPS-1-S and 6-PUS. Modelling of the parallel robots was done by analytical and numerical techniques. The latter includes classical and artificial intelligence-based algorithms. The control performance was evaluated between classical and intelligent controllers.