On Model Feedback Control for Robot Manipulators

1991 ◽  
Vol 113 (3) ◽  
pp. 371-378 ◽  
Author(s):  
T. Narikiyo ◽  
T. Izumi
Keyword(s):  
Control Systems ◽  
Degrees Of Freedom ◽  
Robot Manipulators ◽  
Control Design ◽  
Parameter Uncertainties ◽  
Uncertain Dynamics ◽  
Classical Control ◽  
Multivariate Control ◽  
Control Methodology ◽  
Three Degrees Of Freedom

Robot manipulators are highly coupled nonlinear systems and their motions are influenced by uncertain dynamics such as coulomb friction. These nonlinearities and uncertainties disturb the performance of control systems. In this paper, a control design methodolgy is proposed for the purpose of reducing the adverse effects of parameter uncertainties and disturbances. This control structure is similar to that of classical control. Unlike classical control, this control methodology accommodates multivariate control systems with uncertain dynamics and disturbances. The control design methodology is applied to a three-degrees-of-freedom directly driven robot. Simulation and experimental results demonstrate excellent robustness.

Theory and Experiments on the Compliance Control of Redundant Robot Manipulators

1990 ◽  
Vol 112 (4) ◽  
pp. 653-660 ◽  
Author(s):  
H. Kazerooni ◽  
K. G. Bouklas ◽  
J. Guo
Keyword(s):  
Degrees Of Freedom ◽  
Control Method ◽  
Robot Manipulators ◽  
Industrial Robot ◽  
Redundant Robot ◽  
Control Approach ◽  
Six Degrees Of Freedom ◽  
The Stability ◽  
Control Methodology ◽  
Theory And Experiments

This work presents a control methodology for compliant motion in redundant robot manipulators. This control approach takes advantage of the redundancy in the robot’s degrees of freedom: while a maximum six degrees of freedom of the robot control the robot’s endpoint position, the remaining degrees of freedom impose an appropriate force on the environment. To verify the applicability of this control method, an active end-effector is mounted on an industrial robot to generate redundancy in the degrees of freedom. A set of experiments are described to demonstrate the use of this control method in constrained maneuvers. The stability of the robot and the environment is analyzed.

Optimal Backstepping Control of a VR Spherical Motor

2000 ◽  
Author(s):  
Kok-Meng Lee ◽  
Raye Sosseh
Keyword(s):  
Degrees Of Freedom ◽  
Control Design ◽  
Design Tool ◽  
Spherical Motor ◽  
Lyapunov Techniques ◽  
Variable Reluctance ◽  
Output Torque ◽  
Minimum Total Energy ◽  
Overall Stability ◽  
Three Degrees Of Freedom

Abstract This paper considers the control of a variable reluctance (VR) spherical motor that offers some unique features by combining the roll, pitch and yaw motion in a single joint. The 3-DOF VR motor has multiple independent inputs, and the output torque is direction varying and orientation-dependent and as a result, the control for such a motor is significantly more challenging than the single-axis motor. We formulate a new three-degrees-of-freedom (3-DOF) VR motor control design tool using backstepping, where the inputs are optimized to achieve minimum total energy consumed. The torque has been derived as a linear combination of the square of the input currents, a form computationally friendlier than its quadratic counterpart for real-time implementation. The overall stability of the system is shown using Lyapunov techniques. Simulation results are illustrated to show the performance of the controller.

Improved performance for robot manipulators via transmission re-design: the SPRINTA

Robotica ◽  
2000 ◽  
Vol 18 (2) ◽  
pp. 195-200
Author(s):  
P.J. Turner ◽  
P. Nigrowsky ◽  
G. Vines
Keyword(s):  
Degrees Of Freedom ◽  
Robot Manipulators ◽  
Tracking Error ◽  
Reduction Ratio ◽  
Practical Implementation ◽  
Gravity Compensation ◽  
Direct Drive ◽  
Dynamic Decoupling ◽  
Improved Performance ◽  
Three Degrees Of Freedom

A new design philosophy for the transmission of robot manipulators is proposed and an example of a practical implementation is presented. The philosophy combines the advantages of conventional geared robots in terms of relocating the actuators away from the joints and the alternative direct-drive approach. The gimbal drive is an example of a non-linear transmission where there is negligible friction, no backlash or compliance and which provides a varying reduction ratio for gravity compensation and for some dynamic decoupling. The gimbal drive is implemented on the three degrees of freedom SPRINTA prototype. Static repeatability, as well as tracking error and dynamic repeatability for the industrial goalpost test are measured. The performance demonstrates the potential of such a type of robot.

scholarly journals Chaotic Assessment of the Heave and Pitch Dynamics Motions of Air Cushion Vehicles

2021 ◽  
Vol 26 (2) ◽  
pp. 219-234
Author(s):  
A.S. Sowayan
Keyword(s):  
Degrees Of Freedom ◽  
Control Design ◽  
Design Parameters ◽  
Bernoulli’S Equation ◽  
Proposed Model ◽  
Frequency Domains ◽  
Air Cushion ◽  
Base Radius ◽  
Air Cushion Vehicles ◽  
Three Degrees Of Freedom

Abstract In this study, a three degrees of freedom nonlinear air cushion vehicle (ACV) model is introduced to examine the dynamic behavior of the heave and pitch responses in addition to the cushion pressure of the ACV in both time and frequency domains. The model is based on the compressible flow Bernoulli’s equation and the thermodynamics nonlinear isentropic relations along with the Newton second law of translation and rotation. In this study, the dynamical investigation was based on a numerical simulation using the stiff ODE solvers of the Matlab software. The chaotic investigations of the proposed model are provided using the Fast Fourier Transform (FFT), the Poincaré maps, and the regression analysis. Three control design parameters are investigated for the chaotic studies. These parameters are: ACV mass (M), the mass flow rate entering the cushion volume (ṁin ), and the ACV base radius (r). Chaos behavior was observed for heave, and pitch responses as well as the cushion pressure.

Linear coupled model for floating wind turbine control

2018 ◽  
Vol 42 (2) ◽  
pp. 115-127 ◽  
Author(s):  
Alessandro Fontanella ◽  
Ilmas Bayati ◽  
Marco Belloli
Keyword(s):  
Degrees Of Freedom ◽  
Coupled Model ◽  
Control Design ◽  
Offshore Wind ◽  
Order Model ◽  
Reduced Order ◽  
Offshore Wind Turbines ◽  
Wind Turbine Control ◽  
Floating Offshore Wind Turbines ◽  
Three Degrees Of Freedom

This work deals with an analytical linear coupled model describing the integrated aero-hydrodynamics of floating offshore wind turbines. Three degrees of freedom (platform surge, platform pitch and rotor azimuth) were considered with the goal of building a reduced-order model suitable for being integrated in control design algorithms as well as to be used for a straightforward evaluation and comprehension of the global system dynamics.

The Combined Force/Position Control Systems for Manipulators

2008 ◽  
Author(s):  
Vladimir F. Filaretov ◽  
Alexandr V. Zuev
Keyword(s):  
Control Systems ◽  
Degrees Of Freedom ◽  
Position Control ◽  
Robot Manipulators ◽  
Synthesis Method ◽  
End Effector ◽  
New Synthesis ◽  
Force Moment

In this paper, a new synthesis method of force/position control systems of robot manipulators is proposed. The control systems synthesized on the basis of this method without using force/moment sensors and other additional devices provide simultaneous dynamically accurate control of both the position of robot’s end-effector and the force (may be variable) exerted by end-effector on surfaces (object of work) along which it moves. The results of simulation of the manipulator with 3 degrees of freedom are presented. They confirm efficiency of the proposed method. Realization of synthesised control systems does not have large difficulties. These control systems can be realized with the help of a serial microprocessors.

scholarly journals Active Disturbance Rejection for a Three Degrees of Freedom Gyroscope

2018 ◽  
Vol 51 (13) ◽  
pp. 372-377 ◽  
Author(s):  
Juan E. Andrade García ◽  
Alejandra Ferreira de Loza ◽  
Luis T. Aguilar ◽  
Ramón I. Verdés
Keyword(s):  
Disturbance Rejection ◽  
Degrees Of Freedom ◽  
Active Disturbance Rejection ◽  
Three Degrees Of Freedom

scholarly journals Soft Exoskeletons: Development, Requirements, and Challenges of the Last Decade

Actuators ◽  
2021 ◽  
Vol 10 (7) ◽  
pp. 166
Author(s):  
Alan Francisco Pérez Vidal ◽  
Jesse Yoe Rumbo Morales ◽  
Gerardo Ortiz Torres ◽  
Felipe de Jesús Sorcia Vázquez ◽  
Alan Cruz Rojas ◽  
...  
Keyword(s):  
Control Systems ◽  
Degrees Of Freedom ◽  
Power Transmission ◽  
Structural Characteristics ◽  
Current Trend

In this article, various investigations on soft exoskeletons are presented and their functional and structural characteristics are analyzed. The present work is oriented to the studies of the last decade and covers the upper and lower joints, specifically the shoulder, elbow, wrist, hand, hip, knee, and ankle. Its functionality, applicability, and main characteristics are exposed, such as degrees of freedom, force, actuators, power transmission methods, control systems, and sensors. The purpose of this work is to show the current trend in the development of soft exoskeletons, in addition to specifying the essential characteristics that must be considered in its design and the challenges that its construction implies.

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