Design of Robust Controller for 2-DOF Flexible Link Robot Manipulator

2021 ◽  
Author(s):  
Renukadas Pimpalgaonkar ◽  
Prathamesh Khare ◽  
Anagha Chikhalthankar ◽  
Sandeep Hanwate ◽  
M. D. Jaybhaye
Keyword(s):  
Robot Manipulator ◽  
Flexible Link ◽  
Robust Controller

The Design and Simulation for Two-Link Manipulators PD Robust Controller under Uncertain Upper Bound Disturbance

2013 ◽  
Vol 694-697 ◽  
pp. 1652-1655
Author(s):  
Ji Yan Wang
Keyword(s):  
Dynamic Characteristics ◽  
Upper Bound ◽  
Control Method ◽  
Robot Manipulator ◽  
Industrial Robot ◽  
Pd Controller ◽  
Robust Controller ◽  
Convergence And Stability ◽  
Comparison And Analysis ◽  
Driving Torque

PD control method is widely utilized for the dynamic characteristics controlling in industrial robot manipulator area. The disturbance is usually uncertain in reality; the traditional PD controller is limited in that case. In this paper, a PD robust controller is introduced to optimize the convergence and stability of PD controller and avoid the extreme initial driving torque for two-link manipulator system. Using the co-simulation on Matlab/ Simulink and ADAMS, the paper designs a PD robust controller under uncertain upper bound disturbance and completes track control and driving torque simulation trial. The superiority of the two-link manipulators PD robust controller is verified through result comparison and analysis.

scholarly journals Neural Networks-based Adaptive State Feedback Control of Robot Manipulators

2007 ◽  
Vol 2 (4) ◽  
pp. 328 ◽  
Author(s):  
Ghania Debbache ◽  
Abdelhak Bennia ◽  
Noureddine Goléa
Keyword(s):  
Neural Networks ◽  
State Feedback ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
External Disturbance ◽  
Nonlinear Function ◽  
State Feedback Control ◽  
Robot Dynamics ◽  
Robust Controller ◽  
Control Scheme

This paper proposes an adaptive control suitable for motion control of robot manipulators with structured and unstructured uncertainties. In order to design an adaptive robust controller, with the ability to compensate these uncertainties, we use neural networks (NN) that have the capability to approximate any nonlinear function over a compact space. In the proposed control scheme, we need not derive the linear formulation of robot dynamic equation and tune the parameters. To reduce the NNs complexity, we consider the properties of robot dynamics and the decomposition of the uncertainties terms. The proposed controller is robust against uncertainties and external disturbance. The validity of the control scheme is demonstrated by computer simulations on a two-link robot manipulator.

A force observation method for tracking control of flexible-link manipulators

Robotica ◽  
2012 ◽  
Vol 31 (4) ◽  
pp. 669-677 ◽  
Author(s):  
S. Farokh Atashzar ◽  
M. Shahbazi ◽  
H. A. Talebi ◽  
F. Towhidkhah
Keyword(s):  
Tracking Control ◽  
Flexible Manipulator ◽  
Control Technique ◽  
Flexible Link ◽  
Robust Controller ◽  
Estimation Errors ◽  
Control Scheme ◽  
Lyapunov Redesign ◽  
Single Link ◽  
Observation Method

SUMMARYIn this paper, a composite controller is proposed for single-link flexible manipulators exposed to external tip force disturbances. In the proposed scheme, the extended Kalman filter is utilized to observe the environmental forces and the Lyapunov redesign robust controller is applied to control the destabilizing effect of the observation errors in noisy situations. The observed force can be utilized in different applications (such as tele-surgical robotics) in order to eliminate the necessity of additional force sensors. This fact is important for structural miniaturization and cost reduction. The main contributions of this paper are (1) proposing a disturbance observation technique for in-contact flexible link manipulators (note that the challenge of Jacobian singularity is studied as a possible diverging factor of the observation) and (2) proposing the composite robust controller to eliminate the destabilizing effect of estimation errors. The advantages of the proposed control scheme over the conventional techniques are analyzed. Simulation results are given for a single-link flexible manipulator to illustrate the effectiveness of the composite control technique and experimental results are given to validate the performance of the observation method.

scholarly journals Static and dynamic modelling of a two-flexible-link robot manipulator

Robotica ◽  
1996 ◽  
Vol 14 (3) ◽  
pp. 289-300 ◽  
Author(s):  
A.S. Morris ◽  
A. Madani
Keyword(s):  
Recent Work ◽  
High Performance ◽  
Robot Manipulator ◽  
Dynamic Modelling ◽  
Flexible Link ◽  
Principle Of Superposition ◽  
Single Link ◽  
Link Model ◽  
Rigid Motions ◽  
Future Work

SUMMARYThis paper is addressed at the difficulty of accurately modelling a two-flexible-link manipulator system, which is a necessary pre-requisite for future work developing a high-performance controller for such manipulators. Recent work concerned with the development of an accurate single-flexible-link model is first reviewed and then the expansion of a single-link model into a two-flexible-link system in a way which properly takes into account the coupling and interactions between the two links is discussed. The method of approach taken is to calculate the elastic and rigid motions of the links separately and then to combine these according to the principle of superposition. The application of the model developed is demonstrated in a simulated two-flexiblelink system.

A PD Robust Controller Design and Simulation Based on Two-Link Manipulator under Given Upper Bound Disturbance

2012 ◽  
Vol 503-504 ◽  
pp. 1540-1544
Author(s):  
Ji Yan Wang ◽  
Yu Xia Zhuang
Keyword(s):  
Upper Bound ◽  
Controller Design ◽  
Robot Manipulator ◽  
Industrial Robot ◽  
Stability And Convergence ◽  
Robust Controller ◽  
Simulation Based ◽  
The Stability ◽  
Driving Torque ◽  
Robust Controller Design

For industrial robot manipulator system, PD control theory is extensively used in the dynamic characteristics controlling. A PD robust controller is introduced to optimize the stability and convergence of traditional PD controller and avoid excess initial driving torque for two-link industrial manipulator system. By the co-simulation on ADAMS and Matlab/ Simulink, the paper designs a PD robust controller under given upper bound disturbance and completes track control and driving torque trial. Through result comparison and analysis, the superiority of the PD robust controller for two-link manipulator is verified.

scholarly journals Robust Adaptive Self-Organizing Wavelet Fuzzy CMAC Tracking Control for De-icing Robot Manipulator

2015 ◽  
Vol 10 (4) ◽  
pp. 567 ◽  
Author(s):  
ThanhQuyen Ngo ◽  
TaVan Phuong
Keyword(s):  
Robot Manipulator ◽  
Learning Ability ◽  
Cerebellar Model Articulation Controller ◽  
Robust Controller ◽  
Fast Learning ◽  
Self Organized ◽  
Fuzzy Cmac ◽  
Robust Adaptive ◽  
The Stability ◽  
Self Organizing

In this paper, a robust adaptive self-organizing control system based on a novel wavelet fuzzy cerebellar model articulation controller (WFCMAC) is developed for an n-link robot manipulator to achieve the high-precision position tracking. This proposed controller consists of two parts: one is the WFCMAC approach which is implemented to cope with nonlinearities, due to the novel WFCMAC not only incorporates the wavelet decomposition property with fuzzy CMAC fast learning ability but also it will be self-organized; that is, the layers of WFCMAC will grow or prune systematically. Therefore, dimension of WFCMAC can be simplified. The second is the order which is the adaptive robust controller which is designed to achieve robust tracking performance of the system. The adaptive tuning laws of WFCMAC parameters and error estimation of adaptive robust controller are derived through the Lyapunov function so that the stability of the system can be guaranteed. Finally, the simulation and experimental results of novel three-link deicing robot manipulator are applied to verify the effectiveness of the proposed control methodology.

scholarly journals A Design of Robust Controller for Robot Manipulator

1995 ◽  
Vol 31 (11) ◽  
pp. 1842-1847
Author(s):  
Dawei CAI ◽  
Hiroo YAMAURA ◽  
Yasunari SHIDAMA
Keyword(s):  
Robot Manipulator ◽  
Robust Controller
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