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General Information
Editor-in-chief
Prof. Adrian Olaru
University Politehnica of Bucharest, Romania
I'm happy to take on the position of editor in chief of IJMO. It's a journal that shows promise of becoming a recognized journal in the area of modelling and optimization. I'll work together with the editors to help it progress.
IJMO 2019 Vol.9(6): 344-347 ISSN: 2010-3697
DOI: 10.7763/IJMO.2019.V9.734

Discrete Model for the Movement of Industrial Manipulator Used in Hot Rolling Process

Iulia Clitan, Vlad Muresan, Mihail Abrudean, and Valentin I. Sita

Abstract—The presented paper describes the process of determining a discrete model for the horizontal movement of an industrial manipulator. The manipulator is a specialized crane used to unload billets from inside a rotary hearth furnace, during the process of manufacturing tube pipes by hot rolling. The continuous transfer function model is already known, due to previous research, thus this paper focuses on digitizing this transfer function by means of zero-order hold transform, by applying simple substitution and Tustin substitution. The pulse transfer functions yielded from digitization are compared graphically and by computing the root mean square deviation between the continuous signal and the discrete ones. The best fitted discrete transfer function model, for the horizontal movement, is converted into a dependency law between the input and the output (that can be easily implemented on a numerical device), and into a discrete structure with delay blocks.

Index Terms—Digitizing methods, discrete model, horizontal movement, industrial manipulator, pulse transfer function.

Iulia Clitan, Vlad Muresan, Mihail Abrudean, and Valentin Sita are with the Automation Department, Technical University of Cuj-Napoca, Romania (e-mail: iulia.inoan@aut.utcluj.ro, vlad.muresan@aut.utcluj.ro, mihai.abrudean@ aut.utcluj.ro, valentin.sita@ aut.utcluj.ro).

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Cite: Iulia Clitan, Vlad Muresan, Mihail Abrudean, and Valentin I. Sita, "Discrete Model for the Movement of Industrial Manipulator Used in Hot Rolling Process," International Journal of Modeling and Optimization vol. 9, no. 6, pp. 344-347, 2019.

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