Differential Geometric Approach to Robust Control of an Oscillatory Base Robot Manipulator

2018 ◽  
Author(s):  
Derek Hoffman ◽  
Mahmut Reyhanoglu
Keyword(s):  
Robust Control ◽  
Robot Manipulator ◽  
Geometric Approach

scholarly journals Robust Control Based Stability Analysis and Trajectory Tracking of Triple Link Robot Manipulator

2021 ◽  
Vol 54 (4) ◽  
pp. 641-647
Author(s):  
Mukul Kumar Gupta ◽  
Roushan Kumar ◽  
Varnita Verma ◽  
Abhinav Sharma
Keyword(s):  
Stability Analysis ◽  
Robust Control ◽  
Tracking Control ◽  
Robot Manipulator ◽  
Torque Control ◽  
Control Technique ◽  
Control Law ◽  
Worst Case ◽  
Control Techniques ◽  
The Stability

In this paper the stability and tracking control for robot manipulator subjected to known parameters is proposed using robust control technique. The modelling of robot manipulator is obtained using Euler- Lagrange technique. Three link manipulators have been taken for the study of robust control techniques. Lyapunov based approach is used for stability analysis of triple link robot manipulator. The Ultimate upper bound parameter (UUBP) is estimated by the worst-case uncertainties subject to bounded conditions. The proposed robust control is also compared with computer torque control to show the superiority of the proposed control law.

scholarly journals Robust Control for a Two DOF Robot Manipulator

2019 ◽  
Vol 2019 ◽  
pp. 1-11
Author(s):  
Fatma Massaoudi ◽  
Dorsaf Elleuch ◽  
Tarak Damak
Keyword(s):  
Robust Control ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Model Uncertainties ◽  
Robot System ◽  
Control Techniques ◽  
Simulation Results ◽  
Manipulator Robot

In this paper, we present robust control techniques applied on a manipulator robot system: modified sliding mode control (MSMC) and backstepping control (BSC). The purpose is to evaluate SMC and BSC performances, taking into account the model uncertainties. Then, the obtained results of MSMC technique are compared with those of the adaptive sliding mode. Both methods have comparable simulation results which show a good quality of robustness. However, simulation results prove that the modified SMC is more robust, mostly under the effect of external variations and uncertainties.

Geometric and algebraic approach to the inverse kinematics of four-link manipulators

Robotica ◽  
1994 ◽  
Vol 12 (1) ◽  
pp. 59-64 ◽  
Author(s):  
I. Uzmay ◽  
S. Yildirim
Keyword(s):  
Inverse Kinematics ◽  
Robot Manipulator ◽  
Algebraic Approach ◽  
Geometric Approach ◽  
Inverse Kinematics Problem ◽  
Angular Velocities ◽  
Definite Difference ◽  
Cubic Polynomials ◽  
Derivatives Of ◽  
Algebraic Approaches

This paper presents an example of the application of geometric and algebraic approaches to the inverse kinematics problem of four-link robot manipulators. A special arm configuration of the robot manipulator is employed for solving the inverse kinematics problem by using the geometric approach. The obtained joint variables as angular positions are defined in the form of cubic polynomials. The other kinematic parameters of the joints, such as angular velocities and angular accelerations, are the time derivatives of these polynomials. It is evident that there is no definite difference between the results of the two approaches. Consequently, if an appropriate arm configuration for the geometric approach can be established, the inverse kinematics can be solved in a simpler and shorter way.

Robust control of a robot manipulator with nonlinearity

Robotica ◽  
1984 ◽  
Vol 2 (2) ◽  
pp. 75-81 ◽  
Author(s):  
Katsuhisa Furuta ◽  
Kazuhiro Kosuge ◽  
Osamu Yamano ◽  
Kageharu Nosaki
Keyword(s):  
Control System ◽  
Robust Control ◽  
Parameter Identification ◽  
Robot Manipulator ◽  
Control Technique ◽  
Nonlinear Feedback ◽  
Input Nonlinearity ◽  
Nonlinear Compensation ◽  
Computer Controlled ◽  
Servo Controller

SUMMARUYThis paper deals with the control technique of a computer-controlled manipulator with high nonlinearity. To overcome the nonlinearity, a linearization of the system by nonlinear feedback has been employed. Because of the difficulty of the parameter identification under the variation of load, it is not easy to make correct nonlinear compensation for its linearization. In this paper, to solve this problem a robust servo controller based on a model is designed for the linearized manipulator, and a control system is constructed taking account of input nonlinearity. The method is applied to the three-joint manipulator endowed with a software servo using a minicomputer, and the effect of the proposed method is investigated.

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