Trajectory Tracking Control in Inertia Space of Dual-Arm Space Robot System

2006 ◽  
Author(s):  
Jinghua Ge ◽  
Li Chen
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Space Robot ◽  
Robot System ◽  
Trajectory Tracking Control ◽  
Dual Arm

Iterative learning control for a distributed cloud robot with payload delivery

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Jiehao Li ◽  
Shoukun Wang ◽  
Junzheng Wang ◽  
Jing Li ◽  
Jiangbo Zhao ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Iterative Learning Control ◽  
Learning Control ◽  
Iterative Learning ◽  
Robot System ◽  
Trajectory Tracking Control ◽  
Content Type ◽  
Motion Models ◽  
Distributed Cloud

Purpose When it comes to the high accuracy autonomous motion of the mobile robot, it is challenging to effectively control the robot to follow the desired trajectory and transport the payload simultaneously, especially for the cloud robot system. In this paper, a flexible trajectory tracking control scheme is developed via iterative learning control to manage a distributed cloud robot (BIT-6NAZA) under the payload delivery scenarios. Design/methodology/approach Considering the relationship of six-wheeled independent steering in the BIT-6NAZA robot, an iterative learning controller is implemented for reliable trajectory tracking with the payload transportation. Meanwhile, the stability analysis of the system ensures the effective convergence of the algorithm. Findings Finally, to evaluate the developed method, some demonstrations, including the different motion models and tracking control, are presented both in simulation and experiment. It can achieve flexible tracking performance of the designed composite algorithm. Originality/value This paper provides a feasible method for the trajectory tracking control in the cloud robot system and simultaneously promotes the robot application in practical engineering.

A robust trajectory tracking control of a polishing robot system based on CAM data

2001 ◽  
Vol 17 (1-2) ◽  
pp. 177-183 ◽  
Author(s):  
M.C. Lee ◽  
S.J. Go ◽  
M.H. Lee ◽  
C.S. Jun ◽  
D.S. Kim ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Robot System ◽  
Trajectory Tracking Control

Curve-constrained collision-free trajectory control of hyper-redundant planar space robot

2017 ◽  
Vol 231 (4) ◽  
pp. 282-298 ◽  
Author(s):  
Vijay Kumar Dalla ◽  
Pushparaj Mani Pathak
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Degrees Of Freedom ◽  
Dimensional Space ◽  
Space Robot ◽  
Redundancy Resolution ◽  
Trajectory Tracking Control ◽  
Planar Space ◽  
Control Approach ◽  
Control Purpose

Redundancy resolution in a hyper-redundant space robots is a big challenge due to its extra degrees of freedom. This article presents a methodology to control motion planning of a planar space robot with multiple links, that is, hyper-redundant space robot. For control purpose, first a curve-constrained link trajectory tracking control has been developed. Then, the developed control approach has been extended for a collision-free trajectory tracking. For curve-constrained link trajectory tracking control, the backbone reference set (curve fitting) has been applied to exploit the redundancy of two-dimensional space robot of multiple links. For kinematic control purpose, a limited number of joints are actuated. The hyper-redundant space robot has the advantage that manipulator can be configured differently through actuation of different joints. The concept of a limited number of joint actuation has further been extended for collision-free trajectory tracking in the workspace in the presence of obstacles. Collision avoidance is based on the configuration transformation approach where the joints are made active or fixed joint position to facilitate collision-free tip trajectory. Before configuration transformation, collision detection has been performed based on the pseudo-distance criterion. The bond graph technique has been used for the dynamic model of the system and to formulate system equations. The simulation and the animation results validated the successful execution of the proposed approaches for the curve-constrained collision-free trajectory planning.

scholarly journals Trajectory Tracking Control Design for Dual-Arm Robots Using Dynamic Surface Controller

2020 ◽  
Vol 24 (3) ◽  
pp. 159-168
Author(s):  
Anh Tuan Phan ◽  
Huu Nguyen Thai ◽  
Cong Khoa Nguyen ◽  
Quang Uoc Ngo ◽  
Hoai Anh Duong ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Design ◽  
Trajectory Tracking Control ◽  
Dynamic Surface ◽  
Dual Arm
Sign in / Sign up

Export Citation Format

Share Document