scholarly journals Obstacle Avoidance Using CTC and Virtual Structure for Leader-Follower Formation on Mobile Robot

2021 ◽  
Vol 5 (2) ◽  
Author(s):  
Maskhur Zulkarnain ◽  
Trihastuti Agustinah
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Formation Control ◽  
Small Error ◽  
Torque Control ◽  
Reference Trajectory ◽  
Robot Trajectory ◽  
Computed Torque Control ◽  
Robot Position ◽  
Computed Torque

This research examined the development of the combination of virtual structure and leader-follower as an obstacle avoidance method in the formation control of a mobile robot. The formation of the robots are designed with the Separation Bearing Control (SBC) approach between the leader robot (RL) and the virtual robot (RV). The virtual robot is used as a virtual follower and a reference trajectory for the follower  robot (RF). When the follower robot detects an obstacle, the follower robot trajectory is adjusted using a trajectory planner for obstacle avoidance. After passing the obstacle, the follower robot will track its position back in formation using virtual robot position and heading as reference. Leader robot and follower are perturbed by disturbances. In order to ensure the achievement of small error tracking, a controller is designed using the integration of kinematic and dynamics controllers with disturbance observer. The kinematic and dynamics controllers are designed using input-output linearisation (IOL) method and computed torque control (CTC). The effectiveness of the proposed method is verified by the simulation result.Keywords: CTC, leader follower, obstacle avoidance, SBC, virtual structure. 

scholarly journals Formation Control of Multi-Robot using Virtual Structures with a Linear Algebra Approach

2020 ◽  
Vol 4 (1) ◽  
Author(s):  
Arfittariah Riah Riah
Keyword(s):  
Linear Algebra ◽  
Formation Control ◽  
Torque Control ◽  
Control System Design ◽  
Dynamic Problems ◽  
Computed Torque Control ◽  
Algebra Approach ◽  
The Given ◽  
Computed Torque ◽  
Multi Robot

The separation bearing controller (SBC) and separation-separation controller (SSC) approaches can be used to maintain multi-robot formation, while the Computed Torque Control (CTC) method is used to solve the dynamic problems of the robot. However, the SBC and SSC approaches combined with CTC cannot maintain multi-robot formation, if the leader or follower is disturbed. In this paper, the virtual structure method and the linear algebra approach added to the CTC method are used to maintain the triangular robot formation to follow the given trajectory. The simulation results show that the proposed control system design of multi-robots capable of following the trajectory and can maintain multi-robot formation with/without disturbance and noise.

Parametric Identification for a Free-Floating Base Space Manipulator

2014 ◽  
Vol 490-491 ◽  
pp. 1151-1156
Author(s):  
William Takeshi Pereira ◽  
Tatiana F.P.A.T. Pazelli
Keyword(s):  
Parametric Identification ◽  
Torque Control ◽  
Least Square ◽  
Reference Trajectory ◽  
Space Manipulator ◽  
Floating Base ◽  
Computed Torque Control ◽  
Control Scheme ◽  
Two Degree Of Freedom ◽  
Computed Torque

In this paper parametric identification algorithms are applied to estimate dynamic parameters of a space manipulator, whose model is described through the Dynamically Equivalent Manipulator approach. Gradient and least-square methods are applied in order to evaluate capability of the schemes. A sufficiently rich input signal is applied as reference trajectory for joints position, while a simple model-based PID computed torque control scheme is responsible for keeping the trajectory tracking. Simulation results for a two degree-of-freedom space manipulator have shown the effectiveness of the proposal.

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.

Computed Torque Control Method for Two-Axis Planar Serial Robotic Arm

2021 ◽  
pp. 1-9
Author(s):  
G. Perumalsamy ◽  
Deepak Kumar ◽  
Joel Jose ◽  
S. Joseph Winston ◽  
S. Murugan
Keyword(s):  
Control Method ◽  
Torque Control ◽  
Robotic Arm ◽  
Computed Torque Control ◽  
Computed Torque
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