Review of MIMO Minimal Realization Techniques and Case Study on SCARA Robot Manipulator

2017 ◽  
Vol 10 (2) ◽  
pp. 168
Author(s):  
Karim Cherifi ◽  
Kamel Hariche
Keyword(s):  
Robot Manipulator ◽  
Minimal Realization ◽  
Scara Robot

scholarly journals New time delay estimation-based virtual decomposition control for n-DoF robot manipulator

2021 ◽  
Vol 10 (3) ◽  
pp. 192
Author(s):  
Hachmia Faqihi ◽  
Khalid Benjelloun ◽  
Maarouf Saad ◽  
Mohammed Benbrahim ◽  
M. Nabil Kabbaj
Keyword(s):  
Time Delay ◽  
Dynamic Model ◽  
Control Strategy ◽  
Robot Manipulator ◽  
Time Delay Estimation ◽  
Lyapunov Theory ◽  
Degree Of Freedom ◽  
Delay Estimation ◽  
The Stability

<p>One of the most efficient approaches to control a multiple degree-of-freedom robot manipulator is the virtual decomposition control (VDC). However, the use of the re- gressor technique in the conventionnal VDC to estimate the unknown and uncertaities parameters present some limitations. In this paper, a new control strategy of n-DoF robot manipulator, refering to reorganizing the equation of the VDC using the time delay estimation (TDE) have been investigated. In the proposed controller, the VDC equations are rearranged using the TDE for unknown dynamic estimations. Hence, the decoupling dynamic model for the manipulator is established. The stability of the overall system is proved based on Lyapunov theory. The effectiveness of the proposed controller is proved via case study performed on 7-DoF robot manipulator and com- pared to the conventionnal Regressor-based VDC according to some evalution criteria. The results carry out the validity and efficiency of the proposed time delay estimation- based virtual decomposition controller (TD-VDC) approach.</p>

scholarly journals FRACTIONAL-ORDER PASSIVITY-BASED ADAPTIVE CONTROLLER FOR A ROBOT MANIPULATOR TYPE SCARA

Fractals ◽  
2020 ◽  
Vol 28 (08) ◽  
pp. 2040008
Author(s):  
J. E. LAVÍN-DELGADO ◽  
S. CHÁVEZ-VÁZQUEZ ◽  
J. F. GÓMEZ-AGUILAR ◽  
G. DELGADO-REYES ◽  
M. A. RUÍZ-JAIMES
Keyword(s):  
Fractional Order ◽  
Control Strategy ◽  
Control Method ◽  
Robot Manipulator ◽  
Adaptive Controller ◽  
Performance Comparison ◽  
External Disturbances ◽  
Scara Robot ◽  
Comparison Results ◽  
Lagrange Formalism

In this paper, a novel fractional-order control strategy for the SCARA robot is developed. The proposed control is composed of [Formula: see text] and a fractional-order passivity-based adaptive controller, based on the Caputo–Fabrizio and Atangana–Baleanu derivatives, respectively; both controls are robust to external disturbances and change in the desired trajectory and effectively enhance the performance of robot manipulator. The fractional-order dynamic model of the robot manipulator is obtained by using the Euler–Lagrange formalism, as well as the model of the induction motors which are the actuators that drive their joints. Through simulations results, the effectiveness and robustness of the proposed control strategy have been demonstrated. The performance of the fractional-order proposed control method is compared with its integer-order counterpart, composed of the PI controller and the conventional passivity-based adaptive controller, reported in the literature. The performance comparison results demonstrate the superiority and effectiveness of the fractional-order proposed control strategy for a SCARA robot manipulator.

Path Feasibility and Modification Based on the PUMA 560 Workspace Analysis

1994 ◽  
Vol 116 (1) ◽  
pp. 36-43 ◽  
Author(s):  
Kuo-Chiang Shao ◽  
Kuu-young Young
Keyword(s):  
Robot Manipulator ◽  
Industrial Robot ◽  
Practical Application ◽  
Kinematic Constraints ◽  
Workspace Analysis ◽  
Task Requirements ◽  
The Given ◽  
The Relationship ◽  
Robot Workspace

Robot paths are planned according to different industrial tasks. Their kinematic feasibility is restrained by the structure of the given robot manipulator. In order to design feasible paths under kinematic constraints and different task requirements, we propose first to utilize the geometry of the given robot to generate the geometric boundaries of different regions corresponding to kinematic constraints in the robot workspace. Geometric expressions are then derived to describe the relationship about the planned path and the robot workspace. Finally, by applying the developed modification strategies based on different task requirements, feasible paths can be obtained by modifying the infeasible portions of the paths. To demonstrate the proposed feasibility and modification schemes, the PUMA 560 robot manipulator is selected as a case study due to its complexity and practical application. The results are then extended to general wrist-partitioned types of industrial robot manipulators.

Design of H∞ Position Tracking Controllers for Current-Fed Induction Motors Used in Articulated Mechanical Loads

2002 ◽  
Vol 124 (3) ◽  
pp. 485-491
Author(s):  
Stefano Chiaverini ◽  
Giuseppe Fusco
Keyword(s):  
Induction Motors ◽  
Robot Manipulator ◽  
Tracking Errors ◽  
Rotor Resistance ◽  
Control Scheme ◽  
Tracking Controllers ◽  
Riccati Matrix Equation ◽  
Set Up ◽  
Riccati Matrix

This paper describes a systematic procedure to design H∞ position and flux-norm tracking controllers for current-fed induction motors. The designed controllers achieve convergence to zero of both position and flux-norm tracking errors while ensuring robustness with respect to unknown load torque disturbances. The proposed procedure offers the possibility of a simple development of the controllers’ design; in particular, it does not require a numerical solution of the Riccati matrix equation. A case study has been set up which considers the application of the proposed control scheme to a two-link robot manipulator system actuated by two induction motors. Numerical simulation results confirm the validity of the proposed design methodology, even in the presence of rotor resistance uncertainty.

A virtual reality approach for usability assessment: case study on a wheelchair-mounted robot manipulator

2012 ◽  
Vol 29 (3) ◽  
pp. 359-373 ◽  
Author(s):  
G. Di Gironimo ◽  
G. Matrone ◽  
A. Tarallo ◽  
M. Trotta ◽  
A. Lanzotti
Keyword(s):  
Virtual Reality ◽  
Robot Manipulator ◽  
Usability Assessment

On the trajectory tracking control for an SCARA robot manipulator in a fractional model driven by induction motors with PSO tuning

2017 ◽  
Vol 43 (3) ◽  
pp. 257-277 ◽  
Author(s):  
A. Coronel-Escamilla ◽  
F. Torres ◽  
J. F. Gómez-Aguilar ◽  
R. F. Escobar-Jiménez ◽  
G. V. Guerrero-Ramírez
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Induction Motors ◽  
Robot Manipulator ◽  
Trajectory Tracking Control ◽  
Fractional Model ◽  
Scara Robot ◽  
Model Driven

scholarly journals Artificial Intelligent Fuzzy Logic Controller Applied on 6DOF Robot Arm Using LabVIEW and FPGA

2018 ◽  
Vol 3 (5) ◽  
pp. 1
Author(s):  
Ahlam Najm A-Amir ◽  
Hanan A.R. Akkar
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Controller ◽  
Fuzzy Controller ◽  
Robot Manipulator ◽  
Robot Arm ◽  
Serial Link ◽  
Artificial Intelligent ◽  
Field Programmable ◽  
Labview Fpga

In this work an efficient Artificial Intelligent Robotic Fuzzy Logic Controller (AIRFC) system have been constructed to control the robot arm. A serial link Robot manipulator with 6 Degree of Freedom (DOF) from DFROBOT of code ROB0036 is used as a case study. A fuzzy logic type1 controller is implemented on LabVIEW to control each joint of the robot arm for nonlinearity measurements and a fuzzy logic type2 controller is applied which is more suitable for uncertainty. The hardware design is implemented and finally downloaded using the Field Programmable Gate Array (FPGA) kit named PCI-7833R from National Instrument. By using the LabVIEW FPGA MODEL the target board can be detected for software implementation of the controllers’ systems. The work shows that in case of type2 fuzzy logic the rise time is less than that of type1 fuzzy logic for the shoulder, wrist roll and the gripper angles and it is higher for base, elbow and wrist pitch angles. The settling time is the same in elbow and wrist pitch angles and for the type2 fuzzy controller it is less for other angles.

A Reduced-Order Observer Based Piezoelectric Control of Flexible Cartesian (SCARA) Robot Manipulator

2002 ◽  
Author(s):  
Zeyu Liu ◽  
Nader Jalili ◽  
Mohsen Dadfarnia ◽  
Darren M. Dawson
Keyword(s):  
Vibration Suppression ◽  
Robot Manipulator ◽  
Input Voltage ◽  
Reduced Order ◽  
Scara Robot ◽  
Flexible Arm ◽  
Moving Base ◽  
Reduced Order Observer ◽  
Piezoelectric Control ◽  
Base Displacement

An observer based control strategy is proposed for a flexible Cartesian (SCARA) Robot which is modeled as a flexible cantilever beam with a translational base support. A piezoelectric (PZT) patch actuator is bonded on the top surface of the flexible arm to apply a controlled moment for vibration suppression requirement. Utilizing three measurable quantities (i.e., the base displacement, arm tip deflection and the strain at the root end of the arm), a reduced-order observer is designed to estimate the velocity related variables, which are not measurable. A simple PD controller is selected for the moving base regulation control, while a Lyapunov function candidate based on a very simple energy relationship is utilized for the PZT input voltage to make the closed-loop system energy dissipative and hence stable. In this paper, the PZT input voltage control uses the velocity related signals estimated by the reduced-order observer, which makes the control structure simpler. The feasibility of the controller is validated by the numerical simulations and experimental results.

scholarly journals Adaptive 3D Visual Servoing of a Scara Robot Manipulator with Unknown Dynamic and Vision System Parameters

Automation ◽  
2021 ◽  
Vol 2 (3) ◽  
pp. 127-140
Author(s):  
Jorge Antonio Sarapura ◽  
Flavio Roberti ◽  
Ricardo Carelli
Keyword(s):  
Visual Servoing ◽  
Degrees Of Freedom ◽  
Moving Objects ◽  
Robot Manipulator ◽  
Vision System ◽  
Robot Dynamics ◽  
Complete Control ◽  
Scara Robot ◽  
Dynamic Controller ◽  
Control Scheme

In the present work, we develop an adaptive dynamic controller based on monocular vision for the tracking of objects with a three-degrees of freedom (DOF) Scara robot manipulator. The main characteristic of the proposed control scheme is that it considers the robot dynamics, the depth of the moving object, and the mounting of the fixed camera to be unknown. The design of the control algorithm is based on an adaptive kinematic visual servo controller whose objective is the tracking of moving objects even with uncertainties in the parameters of the camera and its mounting. The design also includes a dynamic controller in cascade with the former one whose objective is to compensate the dynamics of the manipulator by generating the final control actions to the robot even with uncertainties in the parameters of its dynamic model. Using Lyapunov’s theory, we analyze the two proposed adaptive controllers for stability properties, and, through simulations, the performance of the complete control scheme is shown.

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