scholarly journals 2-DOF robot modelling by SimMechanics and PD-FL integrated controller for position control and trajectory tracking

F1000Research ◽  
2021 ◽  
Vol 10 ◽  
pp. 1045
Author(s):  
Tian Soon Lee ◽  
Esmail Ali Alandoli ◽  
V Vijayakumar
Keyword(s):  
Trajectory Tracking ◽  
Position Control ◽  
Fuzzy Rules ◽  
Computational Time ◽  
Pd Controller ◽  
Point Position ◽  
Integrated Controller ◽  
And Performance ◽  
Point To Point ◽  
Design Simplicity

Background Due to the high demand of robots to perform several industrial tasks, such as welding, machining, pick and place, position control in robotics has attracted high attention recently. Controllers’ improvement is also continuous specifically in terms of design simplicity and performance accuracy. This research plans to obtain the SimMechanics model of a two-degree of freedom (DOF) robot and to propose an integrated controller of a proportional–derivative (PD) controller and a fuzzy logic (FL) controller. Methodology The SimMechanics model of the 2-DOF robot is obtained using MATLAB SimMechanics toolbox from a CAD assembly design of the 2-DOF robot. Then, the proposed PD-FL integrated controller is designed and simulated in MATLAB Simulink. The PD controller is widely used for its simplicity, but it doesn’t have a satisfactory performance in difficult tasks. Furthermore, the FL controller is also easy for design and implementation even by non-experts in control theory, but it has the disadvantage of long computational time for multi-input systems due to the increased fuzzy rules. Results The FL controller is integrated with the PD controller for enhanced performance of the 2-DOF robot. The PD-FL integrated controller is developed and tested to control the 2-DOF robot for point-to-point position control and also tip trajectory tracking (TTT) such as triangular TTT and rhombic TTT. Conclusion The PD-FL integrated controller demonstrates enhanced performance compared to the conventional PD controller in both point-to-point position control and TTT. Furthermore, the PD-FL integrated controller has the advantage of less fuzzy rules which helps to overcome the computational time issue of the FL controller.

scholarly journals 2-DOF robot modelling by SimMechanics and PD-FL integrated controller for position control and trajectory tracking

F1000Research ◽  
2021 ◽  
Vol 10 ◽  
pp. 1045
Author(s):  
Tian Soon Lee ◽  
Esmail Ali Alandoli ◽  
V Vijayakumar
Keyword(s):  
Trajectory Tracking ◽  
Position Control ◽  
Fuzzy Rules ◽  
Computational Time ◽  
Pd Controller ◽  
Point Position ◽  
Integrated Controller ◽  
And Performance ◽  
Point To Point ◽  
Design Simplicity

Background Due to the high demand of robots to perform several industrial tasks, such as welding, machining, pick and place, position control in robotics has attracted high attention recently. Controllers’ improvement is also continuous specifically in terms of design simplicity and performance accuracy. This research plans to obtain the SimMechanics model of a two-degree of freedom (DOF) robot and to propose an integrated controller of a proportional–derivative (PD) controller and a fuzzy logic (FL) controller. Methodology The SimMechanics model of the 2-DOF robot is obtained using MATLAB SimMechanics toolbox from a CAD assembly design of the 2-DOF robot. Then, the proposed PD-FL integrated controller is designed and simulated in MATLAB Simulink. The PD controller is widely used for its simplicity, but it doesn’t have a satisfactory performance in difficult tasks. Furthermore, the FL controller is also easy for design and implementation even by non-experts in control theory, but it has the disadvantage of long computational time for multi-input systems due to the increased fuzzy rules. Results The FL controller is integrated with the PD controller for enhanced performance of the 2-DOF robot. The PD-FL integrated controller is developed and tested to control the 2-DOF robot for point-to-point position control and also tip trajectory tracking (TTT) such as triangular TTT and rhombic TTT. Conclusion The PD-FL integrated controller demonstrates enhanced performance compared to the conventional PD controller in both point-to-point position control and TTT. Furthermore, the PD-FL integrated controller has the advantage of less fuzzy rules which helps to overcome the computational time issue of the FL controller.

Experiments on Point-to-Point Position Control of a Flexible Beam Using Laplace Transform Technique: Part I—Open-Loop

1991 ◽  
Vol 113 (3) ◽  
pp. 432-437 ◽  
Author(s):  
S. P. Bhat ◽  
M. Tanaka ◽  
D. K. Miu
Keyword(s):  
Position Control ◽  
Flexible Structures ◽  
Open Loop ◽  
Engineering Problem ◽  
Flexible Beam ◽  
Loop Control ◽  
Point Position ◽  
Control Functions ◽  
Laplace Transform Technique ◽  
Point To Point

When lightly damped flexible structures are used in high bandwidth applications, the elimination of residual vibration during point-to-point positioning is an important engineering problem. Using the Laplace domain synthesis technique introduced in earlier publications, experiments on the precise point-to-point position control of a flexible beam have been performed. In Part I of this two-part paper, results related to open-loop control are presented. A variety of candidate control functions are evaluated and performance issues related to robustness and sensitivity are investigated.

scholarly journals Modeling of Hypervelocity Impact Experiments Using Gamma-SPH Technique

2017 ◽  
Author(s):  
Jérôme Limido ◽  
Mohamed Trabia ◽  
Shawoon Roy ◽  
Brendan O’Toole ◽  
Richard Jennings ◽  
...  
Keyword(s):  
Computation Time ◽  
3D Models ◽  
Hypervelocity Impact ◽  
Side Impact ◽  
Particle Methods ◽  
Computational Time ◽  
Back Surface ◽  
Tensile Instability ◽  
Particle Hydrodynamics ◽  
And Performance

A series of experiments were performed to study plastic deformation of metallic plates under hypervelocity impact at the University of Nevada, Las Vegas (UNLV) Center for Materials and Structures using a two-stage light gas gun. In these experiments, cylindrical Lexan projectiles were fired at A36 steel target plates with velocities range of 4.5–6.0 km/s. Experiments were designed to produce a front side impact crater and a permanent bulging deformation on the back surface of the target without inducing complete perforation of the plates. Free surface velocities from the back surface of target plate were measured using the newly developed Multiplexed Photonic Doppler Velocimetry (MPDV) system. To simulate the experiments, a Lagrangian-based smooth particle hydrodynamics (SPH) is typically used to avoid the problems associated with mesh instability. Despite their intrinsic capability for simulation of violent impacts, particle methods have a few drawbacks that may considerably affect their accuracy and performance including, lack of interpolation completeness, tensile instability, and existence of spurious pressure. Moreover, computational time is also a strong limitation that often necessitates the use of reduced 2D axisymmetric models. To address these shortcomings, IMPETUS Afea Solver® implemented a newly developed SPH formulation that can solve the problems regarding spurious pressures and tensile instability. The algorithm takes full advantage of GPU Technology for parallelization of the computation and opens the door for running large 3D models (20,000,000 particles). The combination of accurate algorithms and drastically reduced computation time now makes it possible to run a high fidelity hypervelocity impact model.

Reducing Trajectory Tracking Error of Flexible Mobile Robots Using Command Shaping With Error-Limiting Constraints

2017 ◽  
Author(s):  
Gerald Eaglin ◽  
Joshua Vaughan
Keyword(s):  
Mobile Robots ◽  
Trajectory Tracking ◽  
Tracking Error ◽  
Input Shaping ◽  
Flexible Systems ◽  
Command Shaping ◽  
Modeling Errors ◽  
Temporal Tracking ◽  
Point Motion ◽  
Point To Point

The ability to track a trajectory without significant error is a vital requirement for mobile robots. Numerous methods have been proposed to mitigate tracking error. While these trajectory-tracking methods are efficient for rigid systems, many excite unwanted vibration when applied to flexible systems, leading to tracking error. This paper analyzes a modification of input shaping, which has been primarily used to limit residual vibration for point-to-point motion of flexible systems. Standard input shaping is modified using error-limiting constraints to reduce transient tracking error for the duration of the system’s motion. This method is simulated with trajectory inputs constructed using line segments and Catmull-Rom splines. Error-limiting commands are shown to improve both spatial and temporal tracking performance and can be made robust to modeling errors in natural frequency.

The Leveling Position Control of a Four-Axial Active Pneumatic Isolation System Using PWM-Driving Parallel Dual-On/Off Valves

2011 ◽  
Vol 110-116 ◽  
pp. 3176-3183 ◽  
Author(s):  
Mao Hsiung Chiang ◽  
Hao Ting Lin
Keyword(s):  
Trajectory Tracking ◽  
Vibration Isolation ◽  
Position Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Tracking Performance ◽  
Trajectory Tracking Control ◽  
Isolation System ◽  
Adaptive Sliding Mode Controller ◽  
Novel Concept

This study aims to develop a leveling position control of an active PWM-controlled pneumatic isolation table system. A novel concept using parallel dual-on/off valves with PWM control signals is implemented to realize active control and to improve the conventional pneumatic isolation table that supported by four pneumatic cushion isolators. In this study, the cushion isolators are not only passive vibration isolation devices, but also pneumatic actuators in active position control. Four independent closed-loop position feedback control system are designed and implemented for the four axial isolators. In this study, on/off valves are used, and PWM is realized by software. Therefore, additional hardware circuit is not required to implement PWM and not only cost down but also reach control precision of demand. In the controller design, the Fourier series-based adaptive sliding-mode controller with H∞ tracking performance is used to deal with the uncertainty and time-varying problems of pneumatic system. Finally, the experiments on the pneumatic isolation table system for synchronous position and trajectory tracking control, including no-load and loading conditions, and synchronous position control with master-slave method, are implemented in order to verify that the controller for each cushion isolator can realize good position and trajectory tracking performance.

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