Extended kinematic path control of robot arms

Robotica ◽  
1987 ◽  
Vol 5 (1) ◽  
pp. 45-53 ◽  
Author(s):  
Evgeny Krustev ◽  
Ljubomir Lilov
Keyword(s):  
Path Planning ◽  
Control Method ◽  
Sliding Mode ◽  
Joint Motion ◽  
Robot Arm ◽  
Extended Form ◽  
Robot Arms ◽  
Path Control ◽  
Arm Motion

SUMMARYPath planning a robot arm motion essentially requires that the constraints of the joint variables and the vector of the joint motion rates are taken into account. In order to satisfy the constraints of the joint variables a sliding mode is being employed together with the developed kinematic path control method. The extended form of the kinematic path control method, here proposed, treats simultaneously the constraints of the joint variables and the vector of joint motion rates in path planning a robot arm motion.

Kinematic path control of robot arms

Robotica ◽  
1986 ◽  
Vol 4 (2) ◽  
pp. 107-116 ◽  
Author(s):  
Evgeny Krustev ◽  
Ljubomir Lilov
Keyword(s):  
Path Planning ◽  
Velocity Profile ◽  
New Method ◽  
Robot Arm ◽  
Optimal Motion ◽  
End Effector ◽  
Path Control ◽  
Time Optimal ◽  
Simulation Results ◽  
Arm Motion

SUMMARYPath planning of the end effector motion is here treated from the viewpoint of the path invariance under the transformations of its parametrical representation. Thus, a new method for path planning of the robot arm motion is being developed. Both the problems of finding the end effector time optimal motion and the end effector motion with a prescribed velocity profile along a preplanned path are being solved by the employment of this method. Simulation results are presented and some aspects of implementation are also discussed.

scholarly journals Automatic Parking Path Planning and Tracking Control Research for Intelligent Vehicles

2020 ◽  
Vol 10 (24) ◽  
pp. 9100
Author(s):  
Chenxu Li ◽  
Haobin Jiang ◽  
Shidian Ma ◽  
Shaokang Jiang ◽  
Yue Li
Keyword(s):  
Path Planning ◽  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Vehicle Control ◽  
Path Tracking ◽  
Intelligent Vehicles ◽  
Parking System ◽  
Automatic Parking ◽  
Real Vehicle

As a key technology for intelligent vehicles, automatic parking is becoming increasingly popular in the area of research. Automatic parking technology is available for safe and quick parking operations without a driver, and improving the driving comfort while greatly reducing the probability of parking accidents. An automatic parking path planning and tracking control method is proposed in this paper to resolve the following issues presented in the existing automatic parking systems, that is, low degree of automation in vehicle control; lack of conformity between segmented path planning and real vehicle motion models; and low success rates of parking due to poor path tracking. To this end, this paper innovatively proposes preview correction which can be applied to parking path planning, and detects the curvature outliers in the parking path through the preview algorithm. In addition, it is also available for correction in advance to optimize the reasonable parking path. Meanwhile, the dual sliding mode variable structure control algorithm is used to formulate path tracking control strategies to improve the path tracking control effect and the vehicle control automation. Based on the above algorithm, an automatic parking system was developed and the real vehicle test was completed, thus exploring a highly intelligent automatic parking technology roadmap. This paper provides two key aspects of system solutions for an automatic parking system, i.e., parking path planning and path tracking control.

Robust motion control for multi-split transmission line four-wheel driven mobile operation robot in extreme power environment

2020 ◽  
Vol 47 (2) ◽  
pp. 219-229 ◽  
Author(s):  
Hong Jun Li ◽  
Wei Jiang ◽  
Dehua Zou ◽  
Yu Yan ◽  
An Zhang ◽  
...  
Keyword(s):  
Motion Control ◽  
Trajectory Tracking ◽  
Control Method ◽  
Sliding Mode ◽  
Variable Structure ◽  
Control Model ◽  
Joint Motion ◽  
Content Type ◽  
Structure Control ◽  
Sliding Mode Variable Structure

Purpose In the multi-splitting transmission lines extreme power environment of ultra-high voltage and strong electromagnetic interference, to improve the trajectory tracking and stability control performance of the robot manipulator when conduct electric power operation, and effectively reduce the influence of disturbance factors on the robot motion control, this paper aims to presents a robust trajectory tracking motion control method for power cable robot manipulators based on sliding mode variable structure control theory. Design/methodology/approach Through the layering of aerial-online-ground robot three-dimensional control architecture, the robot joint motion dynamic model has been built, and the motion control model of the N-degrees of freedom robot system has also been obtained. On this basis, the state space expression of joint motion control under disturbance and uncertainty has been also derived, and the manipulator sliding mode variable structure trajectory tracking control model has also been established. The influence of the perturbation control parameters on the robot motion control can be compensated by the back propagation neural network learning, the stability of the controller has been analyzed by using Lyapunov theory. Findings The robot has been tested on a analog line in the lab, the effectiveness of sliding mode variable structure control is verified by trajectory tracking simulation experiments of different typical signals with different methods. The field operation experiment further verifies the engineering practicability of the control method. At the same time, the control method has the remarkable characteristics of sound versatility, strong adaptability and easy expansion. Originality/value Three-dimensional control architecture of underground-online-aerial robots has been proposed for industrial field applications in the ubiquitous power internet of things environment (UPIOT). Starting from the robot joint motion, the dynamic equation of the robot joint motion and the state space expression of the robot control system have been established. Based on this, a robot closed-loop trajectory tracking control system has been designed. A robust trajectory tracking motion control method for robots based on sliding mode variable structure theory has been proposed, and a sliding mode control model for the robot has been constructed. The uncertain parameters in the control model have been compensated by the neural network in real-time, and the sliding mode robust control law of the robot manipulator has been solved and obtained. A suitable Lyapunov function has been selected to prove the stability of the system. This method enhances the expansibility of the robot control system and shortens the development cycle of the controller. The trajectory tracking simulation experiment of the robot manipulator proves that the sliding mode variable structure control can effectively restrain the influence of disturbance and uncertainty on the robot motion stability, and meet the design requirements of the control system with fast response, high tracking accuracy and sound stability. Finally, the engineering practicability and superiority of sliding mode variable structure control have been further verified by field operation experiments.

Computer Aided Synthesis of Piecewise Rational Motions for Spherical 2R and 3R Robot Arms

2006 ◽  
Author(s):  
Anurag Purwar ◽  
Zhe Jin ◽  
Q. J. Ge
Keyword(s):  
Spline Interpolation ◽  
Joint Motion ◽  
Robot Arm ◽  
Spherical Robot ◽  
End Effector ◽  
Kinematic Constraints ◽  
Robot Arms ◽  
Revolute Joints ◽  
Computer Aided ◽  
Circular Interpolation

This paper deals with the problem of synthesizing piecewise rational spherical motions of an object that satisfies the kinematic constraints imposed by a spherical robot arm with revolute joints. The paper brings together the kinematics of spherical robot arms and the recently developed freeform rational motions to study the problem of synthesizing constrained rational motions for Cartesian motion planning. Using quaternion kinematics of spherical arms, it is shown that the problem of synthesizing the Cartesian rational motion of a 2R arm can be reduced to that of circular interpolation in two separate planes. Furthermore, the problem of synthesizing the Cartesian rational motion of a spherical 3R arm can be reduced to that of constrained spline interpolation in two separate planes. Due to the limitation of circular interpolation, for spherical 2R robot arm, only C1 continuous rational motions are generated. In this case, for applications that require C2 continuous motions, the paper presents a method for generating a C2 continuous joint motion that approximates a given C1 rational motion of the end-effector. For spherical 3R arm, C2 continuous rational motions are generated exactly.

Two Robot Arm Cooperative Path Planning Using String Stretching

1991 ◽  
Author(s):  
Francis Schima ◽  
Stephen Derby
Keyword(s):  
Path Planning ◽  
Risk Control ◽  
Space Station ◽  
Great Distance ◽  
Robot Arm ◽  
Robot Path Planning ◽  
Speed Of Light ◽  
Robot Arms ◽  
General Movement ◽  
Robot Path

Abstract Two arm robot path planning has many applications. Potential uses of 2 arm robot path planning include terrestrial and space based construction, and general movement of objects. The U.S. space station will most likely be built using robots so that humans do not have to be put into space regularly at great expense and risk. Control of robots from Earth via telerobotics is not practical because the robots will be so far away that there is a delay in the signals due to the great distance between the robots and the controllers and the fact that the signals are limited by the speed of light. The robot arms could also be controlled remotely from space, but only one at a time could be controlled and thus many people would need to be sent up to control all of the robots. One pair of robot arms can replace one human to manually build a structure. However, there would not be any savings in the number of humans sent into space because each pair of robot arms would require a human operator in space. Thus the robot arms should be autonomous or at least semi-autonomous to reduce the number of humans required in space for construction of the space station.

scholarly journals Adaptive Controller Based on Spatial Disturbance Observer in a Microgravity Environment

Sensors ◽  
2019 ◽  
Vol 19 (21) ◽  
pp. 4759 ◽  
Author(s):  
Chunguang Fan ◽  
Zongwu Xie ◽  
Yiwei Liu ◽  
Chongyang Li ◽  
Hong Liu
Keyword(s):  
Disturbance Observer ◽  
Control Method ◽  
Sliding Mode ◽  
Adaptive Controller ◽  
Logistic Function ◽  
Lyapunov Theory ◽  
Microgravity Environment ◽  
Robot Arm ◽  
Compensation Scheme ◽  
Velocity Inversion

In this paper, a new controller for an operating manipulator work in the space microgravity environment is proposed. First, on the basis of the load variation caused by microgravity, a sliding mode control method is used to model the gravity term, and the logistic function is introduced as the approaching function. An improved sliding mode reaching law is proposed to control the manipulator effectively, and Lyapunov theory is used to deduce its closed-loop stability. A friction compensation scheme, which regards friction as disturbance, is introduced to the microgravity environment, and a space disturbance observer (SDO) is designed from the viewpoint of disturbance suppression to identify the friction characteristics of the control system accurately. To model the lagging friction phenomenon caused by velocity inversion during operation tasks, an adaptive compensation scheme based on the LuGre model is proposed. Finally, the design of a manipulator system, which consists of a robot arm, dexterous hand, teleoperation system, central controller, and visual system, is presented. On-orbit maintenance and capture experiments are carried out successively. The effectiveness and reliability of the controller are verified, and the on-orbit operation tasks are completed successfully.

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