Endpoint Tracking Accuracy of a Redundant Manipulator Controlled in Task-Space Feedback during Reactions to External Forces

2015 ◽  
Vol 2015.6 (0) ◽  
pp. 199-200
Author(s):  
Masahiro Sekimoto ◽  
Kyogo Fujimoto ◽  
Ji-Hun Bae ◽  
Hiroyuki Kimura
Keyword(s):  
Task Space ◽  
Redundant Manipulator ◽  
Tracking Accuracy ◽  
External Forces

Influence of external forces on the behaviour of redundant manipulators

Robotica ◽  
1999 ◽  
Vol 17 (3) ◽  
pp. 283-292
Author(s):  
Leon Žlajpah
Keyword(s):  
Null Space ◽  
The Body ◽  
Redundant Manipulators ◽  
Redundancy Resolution ◽  
Task Space ◽  
Redundant Manipulator ◽  
Projection Technique ◽  
Position Accuracy ◽  
Two Measures ◽  
External Forces

The paper considers the influence of external forces on the behaviour of a redundant manipulator. It is assumed that the forces can act anywhere on the body of the manipulator. First, the equivalent generalized forces in the task space and the null space are defined and several special manipulator configurations regarding the equivalent forces and torques are identified. Next, two measures for the quantification of the influence of external forces on the task space are proposed. These measures are then used in the control algorithm to minimize the influence of external forces on the task space position accuracy. The control is based on the redundancy resolution at the acceleration level and the gradient projection technique. Improvement of the position accuracy is illustrated using the simulation of a four link planar manipulator.

The Augmented Task Space Approach for Redundant Manipulator Control

1988 ◽  
Vol 21 (16) ◽  
pp. 125-129
Author(s):  
L. Sciavicco ◽  
B. Siciliano
Keyword(s):  
Task Space ◽  
Redundant Manipulator ◽  
Manipulator Control ◽  
Space Approach

Robust Control in Task Space for Redundant Manipulator

2021 ◽  
Author(s):  
Martin Crespo ◽  
Martin Mujica ◽  
Mourad Benoussaad ◽  
Sergio Junco
Keyword(s):  
Robust Control ◽  
Task Space ◽  
Redundant Manipulator

scholarly journals Robust Task Space Trajectory Tracking Control of Robotic Manipulators

2016 ◽  
Vol 21 (3) ◽  
pp. 547-568 ◽  
Author(s):  
M. Galicki
Keyword(s):  
Trajectory Tracking ◽  
Lyapunov Stability Theory ◽  
Task Space ◽  
Redundant Manipulator ◽  
Trajectory Tracking Control ◽  
Finite Time Convergence ◽  
Robot Trajectory ◽  
Vector Variable ◽  
Control Schemes ◽  
Chattering Free

Abstract This work deals with the problem of the accurate task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the end-effector. Furthermore, the movement is to be accomplished in such a way as to reduce both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we propose a class of chattering-free robust controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.

High Performance Control of Stewart Platform Manipulator Using Sliding Mode Control with Synchronization Error

2011 ◽  
Vol 1 (4) ◽  
pp. 19-43 ◽  
Author(s):  
Dereje Shiferaw ◽  
Anamika Jain ◽  
R. Mitra
Keyword(s):  
High Performance ◽  
Sliding Mode ◽  
Computation Time ◽  
Variable Structure ◽  
Joint Space ◽  
Stewart Platform ◽  
Task Space ◽  
Tracking Accuracy ◽  
Synchronization Errors ◽  
Equivalent Control

This paper presents the design and analysis of a high performance robust controller for the Stewart platform manipulator. The controller is a variable structure controller that uses a linear sliding surface which is designed to drive both tracking and synchronization errors to zero. In the controller the model based equivalent control part of the sliding mode controller is computed in task space and the discontinuous switching controller part is computed in joint space and hence it is a hybrid of the two approaches. The hybrid implementation helps to reduce computation time and to achieve high performance in task space without the need to measure or estimate 6DOF task space positions. Effect of actuator friction, backlash and parameter variation due to loading have been studied and simulation results confirmed that the controller is robust and achieves better tracking accuracy than other types of sliding mode controllers and simple PID controller.

High Performance Control of Stewart Platform Manipulator Using Sliding Mode Control with Synchronization Error

2013 ◽  
pp. 225-248
Author(s):  
Dereje Shiferaw ◽  
Anamika Jain ◽  
R. Mitra
Keyword(s):  
High Performance ◽  
Sliding Mode ◽  
Computation Time ◽  
Variable Structure ◽  
Joint Space ◽  
Stewart Platform ◽  
Task Space ◽  
Tracking Accuracy ◽  
Synchronization Errors ◽  
Equivalent Control

This paper presents the design and analysis of a high performance robust controller for the Stewart platform manipulator. The controller is a variable structure controller that uses a linear sliding surface which is designed to drive both tracking and synchronization errors to zero. In the controller the model based equivalent control part of the sliding mode controller is computed in task space and the discontinuous switching controller part is computed in joint space and hence it is a hybrid of the two approaches. The hybrid implementation helps to reduce computation time and to achieve high performance in task space without the need to measure or estimate 6DOF task space positions. Effect of actuator friction, backlash and parameter variation due to loading have been studied and simulation results confirmed that the controller is robust and achieves better tracking accuracy than other types of sliding mode controllers and simple PID controller.

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