Learning control of robot manipulators by interactive simulation

Robotica ◽  
2005 ◽  
Vol 23 (4) ◽  
pp. 515-520 ◽  
Author(s):  
Rafael Kelly ◽  
Sebastian Dormido ◽  
Carmen Monroy ◽  
Elizabeth Díaz
Keyword(s):  
Control Systems ◽  
Position Control ◽  
Graphical Representation ◽  
Robot Manipulators ◽  
Robot Dynamics ◽  
Interactive Simulation ◽  
Robot Arm ◽  
Control Structures ◽  
Dynamics And Control ◽  
And Control

Control systems of robot manipulators offer many challenges in education where the students must learn robot dynamics and control structures, and understand relations between the control parameters and the systems performance. Interactive simulation is aimed at improving the understanding of and intuition for the abstract parts of the control of robot courses. This paper presents an application of interactive simulation to teach control systems of robots. The application considers a nonlinear robot arm and two control modules: position control and motion control. Students can directly manipulate graphical representation of the systems such as a choice among seven control structures, controller gains, and desired trajectories, and obtain instant feedback on the effects. These features make the interactive learning tool stimulating and of high pedagogical value.

Contribution to the dynamics and control of robots having elastic transmissions

Robotica ◽  
1988 ◽  
Vol 6 (1) ◽  
pp. 63-69 ◽  
Author(s):  
V. Potkonjak
Keyword(s):  
Dynamic Model ◽  
Robot Dynamics ◽  
Elastic Vibrations ◽  
Dynamics And Control ◽  
Simulation Results ◽  
And Control

SUMMARYThis paper discusses one problem of robot dynamics rarely mentioned in papers relevent to this field. It is the problem of torsional effects in torque transmissions (reducers, shafts, transmission chains, etc.). The problem is significant since oscillations can appear to be due to these effects. The complete dynamic model, which includes these effects, is derived and the possible simplifications considered. The position of feedback transducers is discussed since it appears as an important problem when it is intended to minimize the influence of these elastic vibrations. The discussion is based on eigenvalues and simulation results.

Airworthiness aspects of new technologies: Interaction between aircraft structural dynamics and control systems

1998 ◽  
Vol 212 (5) ◽  
pp. 309-317 ◽  
Author(s):  
M Hockenhull
Keyword(s):  
Control Systems ◽  
Structural Dynamics ◽  
Flight Control ◽  
Closed Loop ◽  
New Technologies ◽  
Loop Control ◽  
Transport Aircraft ◽  
Control Load ◽  
Dynamics And Control ◽  
And Control

The application of electrical flight control systems to civil transport aircraft has directed attention to the need for improved airworthiness regulation. In this paper, the scope and interpretation of a new FAR/JAR Part 25 regulation in preparation is discussed, applicable to aircraft that have closed-loop control systems for flight control, load alleviation or stability augmentation, and have the potential to interact with the aircraft's structural dynamics.

scholarly journals An Electromechanical Pendulum Robot Arm in Action: Dynamics and Control

2017 ◽  
Vol 2017 ◽  
pp. 1-13 ◽  
Author(s):  
A. Notué Kadjie ◽  
P. R. Nwagoum Tuwa ◽  
Paul Woafo
Keyword(s):  
Control Strategies ◽  
Dynamical Behavior ◽  
Mechanical Vibration ◽  
High Amplitude ◽  
Electrical Signal ◽  
Electrical Circuit ◽  
Robot Arm ◽  
Dynamics And Control ◽  
Short Time ◽  
And Control

The authors numerically investigate the dynamics and control of an electromechanical robot arm consisting of a pendulum coupled to an electrical circuit via an electromagnetic mechanism. The analysis of the dynamical behavior of the electromechanical device powered by a sinusoidal power source is carried out when the effects of the loads on the arm are neglected. It is found that the device exhibits period-n T oscillations and high amplitude oscillations when the electric current is at its smallest value. The specific case which considers the effects of the impulsive contact force caused by an external load mass pushed by the arm is also studied. It is found that the amplitude of the impulse force generates several behaviors such as jump of amplitude and distortions of the mechanical vibration and electrical signal. For more efficient functioning of the device, both piezoelectric and adaptive backstepping controls are applied on the system. It is found that the control strategies are able to mitigate the signal distortion and restore the dynamical behavior to its normal state or reduce the effects of perturbations such as a short time variation of one component or when the robot system is subject to noises.

scholarly journals An Approach to the Dynamics and Control of Uncertain Robot Manipulators

Algorithms ◽  
2019 ◽  
Vol 12 (3) ◽  
pp. 66
Author(s):  
Xiaohui Yang ◽  
Xiaolong Zhang ◽  
Shaoping Xu ◽  
Yihui Ding ◽  
Kun Zhu ◽  
...  
Keyword(s):  
Robot Manipulators ◽  
Real Life ◽  
Constrained Systems ◽  
Redundant Manipulator ◽  
Dynamical Equations ◽  
Tracking Errors ◽  
Motion Constraints ◽  
Dynamics And Control ◽  
And Control ◽  
Uncertain Robot

In this paper, a novel constraint-following control for uncertain robot manipulators that is inspired by analytical dynamics is developed. The motion can be regarded as external constraints of the system. However, it is not easy to obtain explicit equations for dynamic modeling of constrained systems. For a multibody system subject to motion constraints, it is a common practice to introduce Lagrange multipliers, but using these to obtain explicit dynamical equations is a very difficult task. In order to obtain such equations more simply, motion constraints are handled here using the Udwadia-Kalaba equation(UKE). Then, considering real-life robot manipulators are usually uncertain(but bounded), by using continuous controllers compensate for the uncertainties. No linearizations/approximations of the robot manipulators systems are made throughout, and the tracking errors are bounds. A redundant manipulator of the SCARA type as the example to illustrates the methodology. Numerical results are demonstrates the simplicity and ease of implementation of the methodology.

scholarly journals Nonlinear pd controllers with gravity compensation for robot manipulators

2014 ◽  
Vol 14 (1) ◽  
pp. 141-150 ◽  
Author(s):  
Jianfeng Huang ◽  
Chengying Yang ◽  
Jun Ye
Keyword(s):  
Degrees Of Freedom ◽  
Position Control ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Nonlinear Function ◽  
Step Response ◽  
Robot Dynamics ◽  
Gravity Compensation ◽  
Pd Controller ◽  
Globally Asymptotically Stable

Abstract A Nonlinear Proportional-Derivative (NPD) controller with gravity compensation is proposed and applied to robot manipulators in this paper. The proportional and derivative gains are changed by the nonlinear function of errors in the NPD controller. The closed-loop system, composed of nonlinear robot dynamics and NPD controllers, is globally asymptotically stable in position control of robot manipulators. The comparison of the simulation experiments in the position control (the step response) of a robot manipulator with two degrees of freedom is also presented to illustrate that the NPD controller is superior to the conventional PD controller in a position control system. The experimental results show that the NPD controller can obtain a faster response velocity and higher position accuracy than the conventional PD controller in the position control of robot manipulators because the proportional and derivative gains of the NPD controller can be changed by the nonlinear function of errors. The NPD controller provides a novel approach for robot control systems.

Discrete-Time H2-Optimal Control for Hydraulic Position Control Systems

2007 ◽  
Author(s):  
Yang Lin ◽  
Yang Shi ◽  
Richard Burton
Keyword(s):  
Optimal Control ◽  
Control Systems ◽  
Discrete Time ◽  
Ad Hoc ◽  
Position Control ◽  
Experimental Studies ◽  
Design Procedure ◽  
Design Parameters ◽  
Practical Applications ◽  
And Control

Hydraulic position control systems play an important role in industrial automation. This paper explores the application of discrete-time H2-optimal control for a hydraulic position control system (HPCS). By minimizing the H2-norm of the system, the discrete-time robust H2-optimal control both stabilizes the plant and minimizes the root-mean-square of the servo position error simultaneously. The intuitive nature of this advanced approach helps to manage the selection of design parameters, whereas, classical methods provide less insight into strategies for parameter selection and control design. Additionally, the powerful ability to address disturbances and uncertainty in the robust H2-optimal design offers a more direct alternative to the ad hoc and iterative nature of classical methods for the hydraulic servo position system. Computer simulations illustrate the design procedure and the effectiveness of the proposed method. Experimental studies which employ the H2-optimal control on a hydraulic positioning system are also conducted and the results show that the method is suitable for practical applications.

Sign in / Sign up

Export Citation Format

Share Document