Tip position control of a flexible one-arm robot with predictive adaptive output feedback implemented with lattice filter parameter identifier

1990 ◽  
Vol 36 (3) ◽  
pp. 429-441 ◽  
Author(s):  
S. Cetinkunt ◽  
S. Wu
Keyword(s):  
Output Feedback ◽  
Position Control ◽  
Filter Parameter ◽  
Lattice Filter ◽  
Tip Position

Discrete-Time Tip Position Control of a Flexible One Arm Robot

1992 ◽  
Vol 114 (3) ◽  
pp. 428-435 ◽  
Author(s):  
Sabri Cetinkunt ◽  
Sijun Wu
Keyword(s):  
Control Algorithm ◽  
Position Control ◽  
System Response ◽  
Model Parameters ◽  
Robot Arm ◽  
Flexible Robot ◽  
Filter Parameter ◽  
Actuator Dynamics ◽  
Lattice Filter ◽  
Tip Position

A predictive adaptive control algorithm is developed for tip position control based on the zero-order-hold equivalence of the nondimensionalized dynamic model of a flexible robot arm. A lattice filter is utilized for the purpose of parameter identification. The proposed control scheme provides an optimal output feedback control and, together with the lattice filter parameter identifier, it forms a special self-tuning regulator. It is then compared with other methods, such as linear quadratic Gaussian and stable factorization. A stability criterion for this control algorithm is also presented. The effects of the actuator dynamics on the overall system response and stability are investigated. Actuator dynamics model parameters are chosen from the actual specifications provided by manufacturers.

scholarly journals Output Feedback Look-ahead Position Control of Electrically Driven Fast Surface Vessels

Automatika ◽  
2016 ◽  
Vol 57 (4) ◽  
pp. 968-981 ◽  
Author(s):  
Padideh Rasouli ◽  
Khoshnam Shojaei ◽  
Abbas Chatraei
Keyword(s):  
Output Feedback ◽  
Position Control ◽  
Look Ahead ◽  
Surface Vessels

Collaborative Tracking Control Strategy for Autonomous Excavation of a Hydraulic Excavator

2021 ◽  
Vol 10 (1) ◽  
pp. 43
Author(s):  
Fattah Hanafi Sheikhha ◽  
Ali Afzalaghaeinaeini ◽  
Jaho Seo
Keyword(s):  
Control Strategy ◽  
Tracking Control ◽  
Position Control ◽  
Simulation Models ◽  
Hydraulic Excavator ◽  
Tracking Errors ◽  
Collaborative Tracking ◽  
Autonomous Excavation ◽  
Tip Position ◽  
Electrohydraulic Actuators

A hydraulic excavator consists of multiple electrohydraulic actuators (EHA). Due to uncertainties and nonlinearities in EHAs, it is challenging to devise a proper control strategy. To tackle this issue, a major goal of our study is to provide an efficient control strategy to minimize tracking errors of the bucket tip position for autonomous excavation. To accomplish the goal, the study offers a collaboration of PID and fuzzy controllers that are used to compensate for contour errors and achieve accurate actuator position control, respectively. Co-simulation models including control algorithms and hydraulic components were created using Matlab and Amesim to validate the performance of the designed controllers. Simulations indicate that the proposed method enables achieving accurate tracking control for autonomous excavation with small tracking errors despite the nonlinear characteristics of the hydraulic excavator system.

Vision-Based Tip Position Control of a Single-Link Robot Manipulator

2019 ◽  
Author(s):  
Umesh Kumar Sahu ◽  
Arun Mishra ◽  
Biswajeet Sahu ◽  
Prateek Priyaranjan Pradhan ◽  
Dipti Patra ◽  
...  
Keyword(s):  
Position Control ◽  
Robot Manipulator ◽  
Single Link ◽  
Tip Position

scholarly journals Evolutionary computing approaches to optimum design of fuzzy logic controller for a flexible robot system

2013 ◽  
Vol 23 (4) ◽  
pp. 395-412 ◽  
Author(s):  
Bidyadhar Subudhi ◽  
Subhakanta Ranasingh
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Controller ◽  
Position Control ◽  
Fitness Function ◽  
Flexible Manipulator ◽  
Position Tracking ◽  
Flexible Robot ◽  
Robot System ◽  
Single Link ◽  
Tip Position

Abstract This paper presents the design of a Fuzzy Logic Controller (FLC) whose parameters are optimized by using Genetic Algorithm (GA) and Bacteria Foraging Optimization (BFO) for tip position control of a single link flexible manipulator. The proposed FLC is designed by minimizing the fitness function, which is defined as a function of tip position error, through GA and BFO optimization algorithms achieving perfect tip position tracking of the single link flexible manipulator. Then the tip position responses obtained by using both the above controllers are compared to suggest the best controller for the tip position tracking.

A new scheme for hybrid force-position control

Robotica ◽  
1993 ◽  
Vol 11 (5) ◽  
pp. 453-464 ◽  
Author(s):  
Véronique Perdereau ◽  
Michel Drouin
Keyword(s):  
Position Control ◽  
External Environment ◽  
Contact Forces ◽  
End Effector ◽  
Complex Tasks ◽  
To Come ◽  
Tip Position ◽  
Robotic Tasks

SUMMARYMany robotic tasks require the end-effector to come into contact with the external environment. In such complex tasks, the manipulator is constrained by the environment, and certain DOFs are lost for motion. The contact forces must be controlled in constraint directions, while the tip position is simultaneously controlled in the free directions.

Sign in / Sign up

Export Citation Format

Share Document