Manufacturing Process Control Based on the Delta Operator

Abstract

This paper considers an improvement of the production rate in amanufacturing cell. The industrial robots are utilized to load andunload raw work pieces, semifinished parts, and finished parts. Becauseconventional robot controllers are usually designed by the help of alinear control theory, the actuator operates within a linear range. As aresult, a high-power actuator is necessary to achieve a high productionrate. In this paper a new nonlinear control methodology based on thedelta operator is proposed to utilized the full performance of a givenactuator. The simulated results show the effectiveness of the proposedalgorithm. Furthermore, the production rate is considered.