Trajectory tracking control of a 2-DOF manipulator using computed torque control combined with an implicit lyapunov function method

2018 ◽  
Vol 32 (6) ◽  
pp. 2803-2816 ◽  
Author(s):  
Xi Wang ◽  
Baolin Hou
Keyword(s):  
Lyapunov Function ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Function Method ◽  
Torque Control ◽  
Trajectory Tracking Control ◽  
Computed Torque Control ◽  
Lyapunov Function Method ◽  
Computed Torque

Robust Computed Torque Schemes for Mechanical Manipulators: Nonadaptive Versus Adaptive

1991 ◽  
Vol 113 (2) ◽  
pp. 324-327 ◽  
Author(s):  
Y. H. Chen
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Tracking Error ◽  
Statistical Information ◽  
Torque Control ◽  
Control Algorithms ◽  
Computed Torque Control ◽  
Control Schemes ◽  
Mechanical Manipulators ◽  
Computed Torque

We consider the tracking control problem of mechanical manipulators in the presence of uncertainty. Two classes of control algorithms are proposed. If the possible bound of the uncertainty is known, a class of nonadaptive robust computed torque control schemes is used. The control guarantees the tracking error to be confined within a specified region after a finite time. If the bound of uncertainty is unknown, a class of adaptive robust computed torque control schemes is used. The control guarantees the tracking error to converge to zero. Both classes of controls are continuous. No statistical information on the uncertainty is ever assumed.

Modeling and trajectory tracking control of 6-DOF RSS type parallel manipulator

Robotica ◽  
2013 ◽  
Vol 32 (4) ◽  
pp. 643-657 ◽  
Author(s):  
Ahmet Dumlu ◽  
Koksal Erenturk
Keyword(s):  
Dynamic Model ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Parallel Manipulator ◽  
Dynamic Models ◽  
Torque Control ◽  
Complete Model ◽  
Trajectory Tracking Control ◽  
Coupling System

SUMMARYIn this study, kinematic analysis of 6-DOF RSS parallel manipulator using Denavit Hartenbeng (D-H) method is investigated. In addition, in order to improve the proposed method, determination of all the active and passive angles, required to obtain Jacobian and complete dynamic model of manipulator, is also achieved. The effects of dynamic models of 6-DOF RSS parallel manipulator with its actuators on trajectory tracking control are studied in detail. Feedback dynamic compensation terms of motor-mechanism coupling system that is needed to compute torque control are obtained through both a single link approximation model and a complete dynamic model. The complete model is derived by taking account of the interaction between the input links and coupler links of the manipulator. Simulations showed that obtaining complete model of manipulator by means of D-H method and using computed control law could improve the quality of trajectory tracking control of parallel manipulator.

scholarly journals Application of predictive control techniques within parallel robot

2012 ◽  
Vol 23 (5) ◽  
pp. 530-540 ◽  
Author(s):  
Fabian Andres Lara-Molina ◽  
João Maurício Rosário ◽  
Didier Dumur ◽  
Philippe Wenger
Keyword(s):  
Predictive Control ◽  
Tracking Control ◽  
Parallel Robot ◽  
Torque Control ◽  
Control Techniques ◽  
Computed Torque Control ◽  
Youla Parameterization ◽  
Position Tracking Control ◽  
Control Application ◽  
Computed Torque

This paper addresses the position tracking control application of a parallel robot using predictive control techniques. A Generalized Predictive Control strategy (GPC), which considers the linear dynamic model, is used to enhance the tracking position accuracy. The robustification of GPC against measurement noise and neglected dynamics using Youla parameterization is performed. A simulation of the orthoglide robot considering uncertainties related to geometrical and dynamic parameters, sensors noise and frictions is performed on two different trajectories. Finally, it is compared the ro-bustified GPC controller with the classical Computed Torque Control (CTC). The robustified GPC controller shows a better performance for high accelerations and it also reduces the effect of the noise in the control signal of the parallel robot.

Adaptive Control of Nonlinear Dynamic SCARA Type of Manipulators

Robotica ◽  
1991 ◽  
Vol 9 (3) ◽  
pp. 319-326 ◽  
Author(s):  
Devendra P. Garg
Keyword(s):  
Adaptive Control ◽  
Trajectory Tracking ◽  
Control Strategy ◽  
Nonlinear Dynamic ◽  
Torque Control ◽  
Control Action ◽  
Relative Importance ◽  
Computed Torque Control ◽  
Torque Control Strategy ◽  
Computed Torque

SUMMARYThis paper deals with an investigation of the relative importance of robotic characteristics typically associated with nonlinear manipulators. An IBM 7540 SCARA type of robot is used for simulation, and results are presented for decentralized proportional plus derivative control action applied to individual robot joints, and the use of an adaptive computed torque control strategy is illustrated. The influence of variations in payload and robot parameters on trajectory tracking is also shown.

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