TY - GEN
T1 - Mechanical Advantage Assurance Control of Quick-return Mechanisms in Task Space
AU - Mendoza, Jocabed
AU - Perrusquia, Adolfo
AU - Flores-Campos, Juan Alejandro
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Quick-return mechanisms are usually controlled by joint-space controllers to avoid instability in the transition between cutting and return phases. These controllers cannot exploit the mechanical advantage associated to the natural mechanism's movement in the task space. It is crucial to guarantee mechanical advantage exploitation to reduce operation time and high-quality cutting finishes. In view of the above, this paper reports the design of a mechanical advantage assurance controller based on: i) a slider physics model that captures all the information associated to the main mechanism's task, and ii) a Jacobian compensator that avoids the controllability problems from the transition between the cutting and return phases. Simulation studies are carried out to verify each component of the proposed controller. A constant cutting velocity task is used as a case of study to demonstrate the mechanical advantage exploitation.
AB - Quick-return mechanisms are usually controlled by joint-space controllers to avoid instability in the transition between cutting and return phases. These controllers cannot exploit the mechanical advantage associated to the natural mechanism's movement in the task space. It is crucial to guarantee mechanical advantage exploitation to reduce operation time and high-quality cutting finishes. In view of the above, this paper reports the design of a mechanical advantage assurance controller based on: i) a slider physics model that captures all the information associated to the main mechanism's task, and ii) a Jacobian compensator that avoids the controllability problems from the transition between the cutting and return phases. Simulation studies are carried out to verify each component of the proposed controller. A constant cutting velocity task is used as a case of study to demonstrate the mechanical advantage exploitation.
UR - http://www.scopus.com/inward/record.url?scp=85146243883&partnerID=8YFLogxK
U2 - 10.1109/CCE56709.2022.9975847
DO - 10.1109/CCE56709.2022.9975847
M3 - Contribución a la conferencia
AN - SCOPUS:85146243883
T3 - CCE 2022 - 2022 19th International Conference on Electrical Engineering, Computing Science and Automatic Control
BT - CCE 2022 - 2022 19th International Conference on Electrical Engineering, Computing Science and Automatic Control
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 19th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2022
Y2 - 9 November 2022 through 11 November 2022
ER -