Modeling and simulation for Z-axis force/position-servo system of assembly manipulator

Ming Li; Hang Feng; Xiaoguang Zhang

doi:10.1109/CCDC.2017.7978715

Modeling and simulation for Z-axis force/position-servo system of assembly manipulator

Ming Li
, Hang Feng
, Xiaoguang Zhang

School of Instrumentation and Optoelectronic Engineering

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

In this paper, the mathematical model of Z-axis force/position-servo system of assembly manipulator of precise assembly platform for optical lens is established, including the mathematical models of permanent magnet synchronous motor (PMSM) and ball screw of manipulator, and then the friction and gravity disturbance is analyzed and modeled. Finally, the simulation is established to demonstrate the validity of the proposed model. The results show that the jitter of servo system occurs due to the inertia of worktable. Meanwhile, the sliding and scrambling of worktable appear under the disturbance from both the factor friction and gravity.

Original language	English
Title of host publication	Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1285-1290
Number of pages	6
ISBN (Electronic)	9781509046560
DOIs	https://doi.org/10.1109/CCDC.2017.7978715
State	Published - 12 Jul 2017
Event	29th Chinese Control and Decision Conference, CCDC 2017 - Chongqing, China Duration: 28 May 2017 → 30 May 2017

Publication series

Name	Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017

Conference

Conference	29th Chinese Control and Decision Conference, CCDC 2017
Country/Territory	China
City	Chongqing
Period	28/05/17 → 30/05/17

Keywords

Assembly manipulator
Ball screw
Double disturbance
Permanent magnet synchronous motor

Access to Document

10.1109/CCDC.2017.7978715

Cite this

Li, M., Feng, H., & Zhang, X. (2017). Modeling and simulation for Z-axis force/position-servo system of assembly manipulator. In Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017 (pp. 1285-1290). Article 7978715 (Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCDC.2017.7978715

@inproceedings{5800c2fd0b2d4d5981b61be84c13fce4,

title = "Modeling and simulation for Z-axis force/position-servo system of assembly manipulator",

abstract = "In this paper, the mathematical model of Z-axis force/position-servo system of assembly manipulator of precise assembly platform for optical lens is established, including the mathematical models of permanent magnet synchronous motor (PMSM) and ball screw of manipulator, and then the friction and gravity disturbance is analyzed and modeled. Finally, the simulation is established to demonstrate the validity of the proposed model. The results show that the jitter of servo system occurs due to the inertia of worktable. Meanwhile, the sliding and scrambling of worktable appear under the disturbance from both the factor friction and gravity.",

keywords = "Assembly manipulator, Ball screw, Double disturbance, Permanent magnet synchronous motor",

author = "Ming Li and Hang Feng and Xiaoguang Zhang",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 29th Chinese Control and Decision Conference, CCDC 2017 ; Conference date: 28-05-2017 Through 30-05-2017",

year = "2017",

month = jul,

day = "12",

doi = "10.1109/CCDC.2017.7978715",

language = "英语",

series = "Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1285--1290",

booktitle = "Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017",

address = "美国",

}

Li, M, Feng, H & Zhang, X 2017, Modeling and simulation for Z-axis force/position-servo system of assembly manipulator. in Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017., 7978715, Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017, Institute of Electrical and Electronics Engineers Inc., pp. 1285-1290, 29th Chinese Control and Decision Conference, CCDC 2017, Chongqing, China, 28/05/17. https://doi.org/10.1109/CCDC.2017.7978715

Modeling and simulation for Z-axis force/position-servo system of assembly manipulator. / Li, Ming; Feng, Hang; Zhang, Xiaoguang.
Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1285-1290 7978715 (Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Modeling and simulation for Z-axis force/position-servo system of assembly manipulator

AU - Li, Ming

AU - Feng, Hang

AU - Zhang, Xiaoguang

PY - 2017/7/12

Y1 - 2017/7/12

N2 - In this paper, the mathematical model of Z-axis force/position-servo system of assembly manipulator of precise assembly platform for optical lens is established, including the mathematical models of permanent magnet synchronous motor (PMSM) and ball screw of manipulator, and then the friction and gravity disturbance is analyzed and modeled. Finally, the simulation is established to demonstrate the validity of the proposed model. The results show that the jitter of servo system occurs due to the inertia of worktable. Meanwhile, the sliding and scrambling of worktable appear under the disturbance from both the factor friction and gravity.

AB - In this paper, the mathematical model of Z-axis force/position-servo system of assembly manipulator of precise assembly platform for optical lens is established, including the mathematical models of permanent magnet synchronous motor (PMSM) and ball screw of manipulator, and then the friction and gravity disturbance is analyzed and modeled. Finally, the simulation is established to demonstrate the validity of the proposed model. The results show that the jitter of servo system occurs due to the inertia of worktable. Meanwhile, the sliding and scrambling of worktable appear under the disturbance from both the factor friction and gravity.

KW - Assembly manipulator

KW - Ball screw

KW - Double disturbance

KW - Permanent magnet synchronous motor

UR - https://www.scopus.com/pages/publications/85028056483

U2 - 10.1109/CCDC.2017.7978715

DO - 10.1109/CCDC.2017.7978715

M3 - 会议稿件

AN - SCOPUS:85028056483

T3 - Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017

SP - 1285

EP - 1290

BT - Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 29th Chinese Control and Decision Conference, CCDC 2017

Y2 - 28 May 2017 through 30 May 2017

ER -

Li M, Feng H, Zhang X. Modeling and simulation for Z-axis force/position-servo system of assembly manipulator. In Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 1285-1290. 7978715. (Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017). doi: 10.1109/CCDC.2017.7978715

Modeling and simulation for Z-axis force/position-servo system of assembly manipulator

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Keywords

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