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position_control_of_mobile_robots_for_laser_material_processing

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    Thomas Kaster authored
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    Position Control of Mobile Robots for Laser Material Processing

    Features

    • The aim of this paper is to investigate and to compare different position control algorithms that have been designed for and implemented in a mobile robot
    • Four different position control algorithms are compared with each other
      • P controller
      • PI controller
      • PID controller
      • Lyapunov controller
    • These are analyzed on three different paths
      • Circular Path
      • Eight-shaped Path
      • Rectangular Path

    Results

    • The results are shown for each of the thee different paths

    Circular Path

    resources/Kreis_evaluated2.png

    Results Circular Path

    Summary of important numerical values of controller test on circular trajectory

    Results Circular Path
    metric P controller PI controller PID controller Lyapunov controller
    mean absolute error in mm 1.45 1.76 0.997 1.196
    median absolute error in mm 1.443 1.558 0.908 1.032
    share of points above 2 mm target in % 27.866 34.076 9.554 13.535
    minimal error in mm 0.029 0.045 0.014 0.012
    maximal error in mm 4.19 8.284 4.734 6.43

    Eight-shaped Path

    resources/Infinity_evaluated2.png

    Results Eight-shaped Path

    Summary of important numerical values of controller test on eight-shaped trajectory

    Results Eight-shaped Path
    metric P controller PI controller PID controller Lyapunov controller
    mean absolute error in mm 2.101 2.791 3.445 3.175
    median absolute error in mm 1.966 2.116 2.648 2.306
    share of points above 2 mm target in % 49.535 53.753 64.618 58.756
    minimal error in mm 0.029 0.014 0.035 0
    maximal error in mm 7.237 42.218 39.812 13.155

    Rectangular Path

    resources/Square_evaluated2.png

    Results Square Path

    Summary of important numerical values of controller test on square trajectory

    Results Square Path
    metric P controller PI controller PID controller Lyapunov controller
    mean absolute error in mm 1.588 1.314 1.781 1.095
    median absolute error in mm 1.311 1.172 1.604 0.971
    share of points above 2 mm target in % 23.81 13.874 39.348 9.774
    minimal error in mm 0.02 0.018 0 0.04
    maximal error in mm 14.78 11.321 11.077 8.237

    Acknowledgements

    • Funded by the Deutsche Forschungsgemeinschaft (DFG, German Research Foundation) under Germanys Excellence Strategy – EXC-2023 Internet of Production – 390621612
    • The authors acknowledge the financial support by the Federal Ministry of Education and Research of Germany in the framework of Research Campus Digital Photonic Production (project number: 13N15423)
    • The authors would like to thank Prof. Jeremy Witzens and Dr. Florian Merget from the Institute and Chair of Integrated Photonics at RWTH Aachen University for their support.
    resources/IoP_Logo.png resources/Logo_Composing_DPP_BMBF_en.png

    References