This is an article without a technical background, but maybe it is. Was recently at the stone drawings on Crap Carschenna. It was late and it was a magical evening so I decided to stay up there for the night. Was then at night at the rock carvings, sat down there and enjoyed the atmosphere of the mountains and the night. And as I lay there and time passed, I realized what the ring drawings mean. It’s just a theory, but I would have done it that way too. Lying there, since Crap Carschenna faces north, you can see the North Star firmly anchored in the universe. And all the stars revolve around it in the course of the night. And that every day. So what do you hammer in stone, your observations. Hereby advance the thesis that the ring drawings from Carschenna and elsewhere in the world are simply testimonies of celestial observation. I’m looking forward to a scientific exchange.
Simulation and Optimization for Delta Robots
Delta-type robots are being used more and more because they can perform pick & place tasks very quickly and precisely.
But how can you determine the best possible cycle time for each customers need?
In order not to actually test this after the setup of the robot, a physical simulation is required. We have implemented a simple method with our partners WEISS Group and ControlEng Corporation.
For the Delta Robot DR series from the WEISS Group a simulation and optimization tool was developed.
Using this tool, the delta robots can be moved in such a way that the cycle times can be optimized for the specific application, taking into account the kinematics and dynamics.
The SERVOsoft® Command Line Interface Option for external optimization tools and the Optimizer PRO Auto Update feature now allows you to evaluate the delta robot’s multi-axis physical model under different conditions.
SERVOsoft® evaluates the entire powertrain in each optimization step, which specifies the mechanical model, and makes the results available so that physical simulations of delta robots can easily be achieved.
SERVOsoft® Optimizer Pro Curve Fitting Tutorial
The SERVOsoft® Optimizer Pro, developed working in close partnership with ControlEng Corporation, now provides a one click solution for Curve Fitting.
Use Curve Fitting to build a move that is as fast as possible within rated limits that you specify, that actually “curve fits” to one or more rated curves. The Curve Fitting Tutorial shows how easy it can be done:
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Ready for the Race – Curve Fitting
Ever thought about letting your machines horses run free? But you can’t find suitable motion profiles for getting everything out.
Then let us turn the tables by looking at your drives, motors, gearboxes and mechanisms constraints and generate an optimal suitable motion profile to see what your machine is able to take to the streets.
This exactly is Curve Fitting available in the SERVOsoft® v4 Optimizer PRO from ControlEng Corporation.
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For example if you have created a modified sine shaped profile for your movement like here…
… with a motor and inverter characteristics fit like that:
Then simply click “Create Curve Fit Spline” for each the accel and decel phase and select your desired optimization target…
… to achieve an optimized motion profile reducing the process time here for example from 0.7 to 0.5 seconds…
… with a perfect suitable fit to the motor and inverter characteristics like that:
Curve Fitting finds the optimal ramps. No guessing. No more “it’s good enough”.
With a click and within seconds, you get the optimal ramp profile. If you compete on performance, then Curve Fitting is a must!
Linear Spline Fit – Precise Smoothing
Many processes require a dynamic point-to-point reversal movement or a point-accurate smoothing.
With our approach of Linear Splines for motion and our numerical solver methods, a highly dynamic, precise movement can be achieved.
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The video illustrates how a Linear Spline is simply defined via the four center reversal points (1, 1) (2, -1) (3, 3) and (4, -0.5) and this is then automatically modified so that over these reversal points is driven very dynamically. It is not necessary to stop at the reversal points, but the velocity (orange) has a zero crossing. In addition, one can also see that the acceleration (green), modeled with a polynomial of the degree 7, is capped at the respective maximum.
For further handling, the resulting Linear Spline with smoothing polynomials can be easily mapped to every common motion control system as a cam, so that no special manufacturer-dependent operating system is necessary.