RISE-Based Computed-Torque Control for trajectory tracking of parallel robot

2021 ◽  
Author(s):  
Fatima Nouri ◽  
Farid Ferguene ◽  
Redouane Toumi
Keyword(s):  
Trajectory Tracking ◽  
Parallel Robot ◽  
Torque Control ◽  
Computed Torque Control ◽  
Computed Torque

A PD Computed Torque Control Method with Online Self-gain Tuning for a 3UPS-PS Parallel Robot

Robotica ◽  
2021 ◽  
pp. 1-13
Author(s):  
Xiaogang Song ◽  
Yongjie Zhao ◽  
Chengwei Chen ◽  
Liang’an Zhang ◽  
Xinjian Lu
Keyword(s):  
Feedback Loop ◽  
Control Method ◽  
Virtual Work ◽  
Parallel Robot ◽  
Torque Control ◽  
Virtual Work Principle ◽  
Tuning Method ◽  
Computed Torque Control ◽  
Control Feedback ◽  
Computed Torque

SUMMARY In this paper, an online self-gain tuning method of a PD computed torque control (CTC) is used for a 3UPS-PS parallel robot. The CTC is applied to the 3UPS-PS parallel robot based on the robot dynamic model which is established via a virtual work principle. The control system of the robot comprises a nonlinear feed-forward loop and a PD control feedback loop. To implement real-time online self-gain tuning, an adjustment method based on the genetic algorithm (GA) is proposed. Compared with the traditional CTC, the simulation results indicate that the control algorithm proposed in this study can not only enhance the anti-interference ability of the system but also improve the trajectory tracking speed and the accuracy of the 3UPS-PS parallel robot.

scholarly journals Computed torque control of a 2-RR planar parallel robot // Control por par calculado de un robot paralelo planar 2-RR

Prospectiva ◽  
2017 ◽  
Vol 15 (2) ◽  
pp. 85-95 ◽  
Author(s):  
Eugenio Yime ◽  
Javier Roldán Mckenley ◽  
Jose Luis Villa Ramirez
Keyword(s):  
Robot Control ◽  
Parallel Robot ◽  
Torque Control ◽  
Computed Torque Control ◽  
Computed Torque

Se presentan el diseño, la construcción y el control de un mecanismo plano de cinco eslabones con cinco juntas de revoluta y dos grados de libertad. Se implementó el control por par calculado en el espacio articular para lograr una trayectoria deseada. Se desarrolló la cinemática de posición y de velocidad, tanto directa como inversa, y únicamente la cinemática inversa de aceleración como parámetro requerido en la ley de control. El enfoque escogido para este robot paralelo es ventajoso puesto que permite obtener una ecuación dinámica similar al modelamiento convencional de robots seriales, lo cual facilita la implementación de técnicas de control no lineal. La validez del enfoque planteado y la funcionalidad del controlador se verifican experimentalmente mediante la generación de una trayectoria circular por el efector. A pesar de la concordancia entre la simulación y los resultados experimentales, se sugiere como futuro trabajo el cambio en la estrategia de control para compensar efectos no modelados del sistema.

scholarly journals Application of predictive control techniques within parallel robot

2012 ◽  
Vol 23 (5) ◽  
pp. 530-540 ◽  
Author(s):  
Fabian Andres Lara-Molina ◽  
João Maurício Rosário ◽  
Didier Dumur ◽  
Philippe Wenger
Keyword(s):  
Predictive Control ◽  
Tracking Control ◽  
Parallel Robot ◽  
Torque Control ◽  
Control Techniques ◽  
Computed Torque Control ◽  
Youla Parameterization ◽  
Position Tracking Control ◽  
Control Application ◽  
Computed Torque

This paper addresses the position tracking control application of a parallel robot using predictive control techniques. A Generalized Predictive Control strategy (GPC), which considers the linear dynamic model, is used to enhance the tracking position accuracy. The robustification of GPC against measurement noise and neglected dynamics using Youla parameterization is performed. A simulation of the orthoglide robot considering uncertainties related to geometrical and dynamic parameters, sensors noise and frictions is performed on two different trajectories. Finally, it is compared the ro-bustified GPC controller with the classical Computed Torque Control (CTC). The robustified GPC controller shows a better performance for high accelerations and it also reduces the effect of the noise in the control signal of the parallel robot.

Adaptive Control of Nonlinear Dynamic SCARA Type of Manipulators

Robotica ◽  
1991 ◽  
Vol 9 (3) ◽  
pp. 319-326 ◽  
Author(s):  
Devendra P. Garg
Keyword(s):  
Adaptive Control ◽  
Trajectory Tracking ◽  
Control Strategy ◽  
Nonlinear Dynamic ◽  
Torque Control ◽  
Control Action ◽  
Relative Importance ◽  
Computed Torque Control ◽  
Torque Control Strategy ◽  
Computed Torque

SUMMARYThis paper deals with an investigation of the relative importance of robotic characteristics typically associated with nonlinear manipulators. An IBM 7540 SCARA type of robot is used for simulation, and results are presented for decentralized proportional plus derivative control action applied to individual robot joints, and the use of an adaptive computed torque control strategy is illustrated. The influence of variations in payload and robot parameters on trajectory tracking is also shown.

scholarly journals Model-assisted extended state observer-based computed torque control for trajectory tracking of uncertain robotic manipulator systems

2018 ◽  
Vol 15 (5) ◽  
pp. 172988141880173 ◽  
Author(s):  
Chao Chen ◽  
Chengrui Zhang ◽  
Tianliang Hu ◽  
Hepeng Ni ◽  
WeiChao Luo
Keyword(s):  
Trajectory Tracking ◽  
Robotic Manipulators ◽  
State Observer ◽  
Torque Control ◽  
Extended State Observer ◽  
Effective Control ◽  
Extended State ◽  
Uncertain Dynamics ◽  
Computed Torque Control ◽  
Computed Torque

Computed torque control is an effective control scheme for trajectory tracking of robotic manipulators. However, computed torque control requires precise dynamic models of robotic manipulators and is severely affected by uncertain dynamics. Thus, a new scheme that combines a computed torque control and a novel model-assisted extended state observer is developed for the robust tracking control of robotic manipulators subject to structured and unstructured uncertainties to overcome the disadvantages of computed torque control and exploit its merits. The model-assisted extended state observer is designed to estimate and compensate these uncertain dynamics as a lumped disturbance online, which further improves the disturbance rejection property of a robotic system. Global uniform ultimate boundedness stability with an exponential convergence of a closed-loop system is verified through Lyapunov method. Simulations are performed on a two degree-of-freedom manipulator to verify the effectiveness and superiority of the proposed controller.

Sign in / Sign up

Export Citation Format

Share Document