FPGA-Based Implementation of Torque Controller for 6-DOF Articulated Robots

2021 ◽  
Author(s):  
Phan Tan-Phat ◽  
Paul C.-P. Chao ◽  
Huang Zih-Wei
Keyword(s):  
Pid Controller ◽  
Inverse Kinematics ◽  
Hardware Implementation ◽  
Proportional Integral Derivative ◽  
Whole Process ◽  
Ac Servo ◽  
Field Programmable ◽  
Articulated Robot ◽  
Ac Servo Motor ◽  
Articulated Robots

Abstract This paper aims to design an impedance position-based proportional-integral-derivative (PID) controller based on forward and inverse kinematics of HIWIN RA605 articulated robot, and Field-Programmable Gate Array (FPGA) implementation for a PID torque controller. In order to control the robot, the FPGA needs to output commands to communicate with the AC servo motor drivers. An FPGA-based controller for a 6-degree-of-freedom (DOF) articulated robot that implements several tasks such as hardware implementation, encoder counters, noise cancellation algorithm, analog generators, PID controller, and communication are included, the processing time of the FPGA is 16 μs. Meanwhile, the whole process of the system only takes 82 μs to complete.

Control Design of Robotic Manipulator Based on Quantum Neural Network

2017 ◽  
Vol 140 (6) ◽  
Author(s):  
Hayder Mahdi Abdulridha ◽  
Zainab Abdullah Hassoun
Keyword(s):  
Neural Network ◽  
Dynamic Model ◽  
Pid Controller ◽  
Inverse Kinematics ◽  
Robot Manipulator ◽  
System Response ◽  
Proportional Integral Derivative ◽  
Dynamics Model ◽  
Lagrange Method ◽  
Quantum Neural Network

In this study, a control system was designed to control the robot's movement (The Mitsubishi RM-501 robot manipulator) based on the quantum neural network (QNN). A proposed method was used to solve the inverse kinematics in order to determine the angles values for the arm's joints when it follows through any path. The suggested method is the QNN algorithm. The forward kinematics was derived according to Devavit–Hartenberg representation. The dynamics model for the arm was modeled based on Lagrange method. The dynamic model is considered to be a very important step in the world of robots. In this study, two methods were used to improve the system response. In the first method, the dynamic model was used with the traditional proportional–integral–derivative (PID) controller to find its parameters (Kp, Ki, Kd) by using Ziegler Nichols method. In the second method, the PID parameters were selected depending on QNN without the need to a mathematical model of the robot manipulator. The results show a better response to the system when replacing the traditional PID controller with the suggested controller.

An Investigation of a 3-PRS Parallel Motion Mechanism with Intersecting Rails

2011 ◽  
Vol 52-54 ◽  
pp. 517-522 ◽  
Author(s):  
Yuan Ming Cheng
Keyword(s):  
Inverse Kinematics ◽  
Forward Kinematics ◽  
Servo Motor ◽  
Ac Servo ◽  
Parallel Motion ◽  
Parallel Platform ◽  
Ac Servo Motor ◽  
Singularity Distribution ◽  
Optimal Maneuvering ◽  
Base Platform

This study proposes a 3-axis AC servo motor parallel platform with intersecting rails. The 3-actuators are designed to be horizontally on the base platform with their extensions intersect in the base platform center. The forward kinematics, inverse kinematics and work space of this mechanism are established and the singularity distribution is investigated. Optimal maneuvering regions are recommended from the viewpoints of singularity and stiffness.

scholarly journals Microtension control for a yarn winding system with an IMC PID controller

2019 ◽  
Vol 20 (6) ◽  
pp. 609 ◽  
Author(s):  
Qing Wang ◽  
Anqing Li ◽  
Yuanyuan Li ◽  
Jixin Liu ◽  
Hui Shen ◽  
...  
Keyword(s):  
Mathematical Model ◽  
Textile Industry ◽  
Pid Controller ◽  
Feedforward Control ◽  
Internal Model Control ◽  
Servo Motor ◽  
Yarn Tension ◽  
Ac Servo ◽  
Model Control ◽  
Ac Servo Motor

In this paper, feedforward compensation and an internal model control (IMC) PID tuning method to maintain the yarn tension within a micro-boundary range are proposed. The proposed method can be used to improve the quality of products in textile industry. We first develop a mathematical model of the AC servo motor and yarn tension system. Based on the results of the mathematical model, an IMC PID controller is designed to control the microtension of the yarn. The proposed IMC-PID controller can be directly calculated from the time constant and time delay. Feedforward control is used to compensate for the linear velocity of the winding roller. To reduce the lateral vibrations of the yarn, we designed an active roller to nip the moving yarn. The active roller compensates for the variation in the diameter of the unwinding roller. The proposed method effectively improves the dynamics performance and the robustness of the system, and is appropriate for industrial application. Experimental instruments, including a tension sensor, an AC servo motor and a motion controller, equipped with a computer, are used to test the proposed method. The simulation and experimental results show the effectiveness of the proposed controller for the yarn microtension control system.

Establishment and comparison of a spatial dynamics model for virtual track train with different steering modes

2021 ◽  
pp. 146441932110240
Author(s):  
Zhonghui Yin ◽  
Jiye Zhang ◽  
Haiying Lu
Keyword(s):  
Pid Controller ◽  
Dynamic Performance ◽  
Spatial Dynamics ◽  
Steering System ◽  
Front Wheel ◽  
Proportional Integral Derivative ◽  
Dynamics Model ◽  
Proposed Model ◽  
Suspension Control ◽  
Curved Section

To solve the urbanization and the economic challenges, a virtual track train (VTT) transportation system has been proposed in China. To evaluate the dynamic behavior of the VTT, a spatial dynamics model has been developed that considers the suspension system and the steering system. Additionally, the model takes into account road irregularity to make simulations more realistic. Based on the newly proposed dynamic model and a designed proportional–integral–derivative (PID) controller, simulation frames of the vehicle and of the VTT are established with the path-tracking performance. The results show that the vehicle and the VTT can run along a desired lane with allowable errors, verifying the proposed model. The vehicle and VTT with the four-wheel steering system show a better dynamic performance than the models with the front-wheel steering system in the curved section. Moreover, the simulation frame can be further applied to dynamics-related assessments, parameter optimization and active suspension control strategy.

Nonlinear Discrete-time feedback error learning with PI Controller for AC servo motor

2008 ◽  
Author(s):  
Noppanan Suwanjatuporn ◽  
Mes Napaamporn ◽  
Waree Kongprawechnon ◽  
Sirisak Wongsura
Keyword(s):  
Discrete Time ◽  
Pi Controller ◽  
Servo Motor ◽  
Ac Servo ◽  
Feedback Error Learning ◽  
Feedback Error ◽  
Error Learning ◽  
Ac Servo Motor

An H∞ Design Approach for a PID Automatic Flight Control System of a Launch Vehicle

2016 ◽  
Vol 859 ◽  
pp. 116-123
Author(s):  
Adrian Mihail Stoica ◽  
Mihaela Raluca Stefanescu
Keyword(s):  
Flight Control ◽  
Pid Controller ◽  
Design Methodology ◽  
Launch Vehicle ◽  
Proportional Integral Derivative ◽  
Flight Control System ◽  
Numerical Examples ◽  
Stability Robustness ◽  
Norm Minimization ◽  
Atmospheric Disturbances

The paper presents a design methodology for the automatic flight control of a launch vehicle. In the proposed approach the controller has a PID (Proportional-Integral-Derivative) structure but its gains are determined solving an H∞ norm minimization problem of the mapping from the atmospheric disturbances to the control amplitude and to the angle of attack of the launcher. The design methodology is illustrated by numerical examples in which both time responses and stability robustness properties of the optimal PID controller are analyzed.

PSO-Based Tunning of PID Controller for Speed Control of DC Motor

2014 ◽  
Vol 7 (3) ◽  
pp. 65-79
Author(s):  
Ibrahem S. Fatah
Keyword(s):  
Genetic Algorithm ◽  
Particle Swarm Optimization ◽  
Pid Controller ◽  
Dc Motor ◽  
Proportional Integral Derivative ◽  
Stable Convergence ◽  
Swarm Optimization ◽  
Tuning Parameters ◽  
Pid Controller Tuning ◽  
Rising Time

In this paper, a Proportional-Integral-Derivative (PID) controller of DC motor is designed by using particle swarm optimization (PSO) strategy for formative optimal PID controller tuning parameters. The proposed approach has superior feature, including easy implementation, stable convergence characteristics and very good computational performances efficiency. The DC Motor Scheduling PID-PSO controller is modeled in MATLAB environment. Comparing with conventional PID controller using Genetic Algorithm, the planned method is more proficient in improving the speed loop response stability, the steady state error is reduced, the rising time is perfected and the change of the required input do not affect the performances of driving motor with no overtaking.

Anti load disturbance method for AC servo motor power system

2018 ◽  
Vol 22 (S1) ◽  
pp. 2273-2283
Author(s):  
Haoliang Lv ◽  
Xiaojun Zhou
Keyword(s):  
Power System ◽  
Motor Power ◽  
Servo Motor ◽  
Ac Servo ◽  
Load Disturbance ◽  
Ac Servo Motor
Sign in / Sign up

Export Citation Format

Share Document