Assessment of the Stability of a Four Legged Robot Manipulator

2015 ◽  
Vol 4 (8) ◽  
pp. 433-436 ◽  
Author(s):  
Dr. Awad Eisa G. Mohamed
Keyword(s):  
Robot Manipulator ◽  
Legged Robot ◽  
The Stability

Multi-loop model-based control structure for robot manipulators

Robotica ◽  
2005 ◽  
Vol 23 (4) ◽  
pp. 491-499 ◽  
Author(s):  
Rafael Osypiuk ◽  
Bernd Finkemeyer ◽  
Friedrich M. Wahl
Keyword(s):  
Control Structure ◽  
Robot Manipulator ◽  
Loop Model ◽  
Loop Control ◽  
Model Based Control ◽  
Model Following Control ◽  
Model Following ◽  
Theoretical Assumptions ◽  
Quantitative Results ◽  
The Stability

Most nonlinear control concepts used in robotics are based on a more or less accurate inverse model of the robot. In contrast to this, the design and properties of a general $n$-loop control structure based on a divided forward model of the robot, the so-called multi-loop Model Following Control Structure ($n$-MFC), is presented in this paper. Its theoretical basics and its concept are explained. The stability and robustness of the proposed control structure is analyzed. The theoretical assumptions are verified in many experiments with a two-joint robot manipulator. Qualitative as well as quantitative results of the experiments are presented and discussed.

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>

Conditions of Parametric Resonance in Periodically Time-Variant Systems With Distributed Parameters

2009 ◽  
Vol 131 (3) ◽  
Author(s):  
Yong-Kwan Lee ◽  
Leonid S. Chechurin
Keyword(s):  
Parametric Resonance ◽  
Robot Manipulator ◽  
Synchronous Generator ◽  
Constant Current ◽  
Time Varying ◽  
Distributed Parameters ◽  
Time Varying Parameter ◽  
Manipulator Arm ◽  
The Stability ◽  
Systems With Distributed Parameters

Theoretical analysis of the stability problem for the control systems with distributed parameters shall be given. The approach to the analysis of such systems can be composed of two parts. First, the distributed parameter element is modeled by a frequency response function. Second, approximate conditions of parametric resonance are derived by a method of stationarization (describing functions of time-variant elements). The approach is illustrated by two examples. One is a robot-manipulator arm (distributed mechanical parameter system) controlled by a controller with a modulator/demodulator cascade (time-varying element). Another is an electromechanical transformer that consists of a constant current motor and a synchronous generator. Inductance between stator windings and the rotor of the synchronous generator serves as a periodical time-varying parameter, and a long electrical line plays the role of an element with distributed parameters. In both examples, dangerous (in terms of the first parametric resonance) regions for time-varying parameter are obtained theoretically and compared with simulation experiment.

Force Control of Robot Manipulator by Neural Network Model - Experiment and Evaluation of One-Degree-of-Freedom Manipulator -

1990 ◽  
Vol 2 (4) ◽  
pp. 273-281 ◽  
Author(s):  
Masatoshi Tokita ◽  
◽  
Toyokazu Mitsuoka ◽  
Toshio Fukuda ◽  
Takashi Kurihara ◽  
...  
Keyword(s):  
Neural Network ◽  
Network Model ◽  
Neural Network Model ◽  
Force Control ◽  
Pid Controller ◽  
Robot Manipulator ◽  
Force Sensor ◽  
Robotic Manipulator ◽  
The Neural Network ◽  
The Stability

In this paper, a force control of a robotic manipulator based on a neural network model is proposed with consideration of the dynamics of both the force sensor and objects. This proposed system consists of the standard PID controller, the gains of which are augmented and adjusted depending on objects through a process of learning. The authors proposed a similar method previously for the force control of the robotic manipulator with consideration of dynamics of objects, but without consideration of dynamics of the force sensor, showing only simulation results. This paper shows the similar structure of the controller via the neural network model applicable to the cases with consideration of both effects and demonstrates that the proposed method shows the better performance than the conventional PID type of controller, yielding to the wider range of applications, consequently. Therefore, this method can be applied to the force/compliance control problems. The effects of the number of neurons and hidden layers of the neural network model are also discussed through the simulation and experimental results as well as the stability of the control system.

Computer Aided Modelling and Static Analysis of an Inspection Robot

2015 ◽  
Vol 766-767 ◽  
pp. 1055-1060
Author(s):  
G. Shanmugasundar ◽  
R. Sivaramakrishnan ◽  
R. Sridhar ◽  
M. Rajmohan
Keyword(s):  
Static Analysis ◽  
Robot Manipulator ◽  
Research Work ◽  
Nuclear Industry ◽  
Nuclear Waste Storage ◽  
Design Procedures ◽  
Inspection Robot ◽  
Waste Storage ◽  
Computer Aided ◽  
The Stability

This paper describes the method for computer aided modelling of the newly designed robot with the aid of 3D modelling software. The static analysis of the designed robot also done by using the analysis software. The conventional design procedures of the elements of the mechanical configurations of the robot base and arm explained in exhaustive manner. Nuclear waste storage steel canisters are often required regular maintenance and surface inspection in order to ensure the goodness of the canisters. In this research work also the designed robot is doing the same task with the help of NDT system available at the end of the arm. However, these types of robot manipulators suffer from different payload capacity and relatively some amount of end point deflections. Through the static analysis the stability of the robot manipulator is proved. This paper features the optimized new design of mechanical configuration of the robot suitable for inspection of outer surface welds present in the steel storage canister at nuclear industry with the help of NDT equipment. The effective utilization of knuckle joints and screw jack mechanisms at the base gives the higher order of degree of freedom when compare with currently available robots.

scholarly journals Robust Control Based Stability Analysis and Trajectory Tracking of Triple Link Robot Manipulator

2021 ◽  
Vol 54 (4) ◽  
pp. 641-647
Author(s):  
Mukul Kumar Gupta ◽  
Roushan Kumar ◽  
Varnita Verma ◽  
Abhinav Sharma
Keyword(s):  
Stability Analysis ◽  
Robust Control ◽  
Tracking Control ◽  
Robot Manipulator ◽  
Torque Control ◽  
Control Technique ◽  
Control Law ◽  
Worst Case ◽  
Control Techniques ◽  
The Stability

In this paper the stability and tracking control for robot manipulator subjected to known parameters is proposed using robust control technique. The modelling of robot manipulator is obtained using Euler- Lagrange technique. Three link manipulators have been taken for the study of robust control techniques. Lyapunov based approach is used for stability analysis of triple link robot manipulator. The Ultimate upper bound parameter (UUBP) is estimated by the worst-case uncertainties subject to bounded conditions. The proposed robust control is also compared with computer torque control to show the superiority of the proposed control law.

scholarly journals Neural Network-Based Adaptive Control of Robotic Manipulator: Application to a Three Links Cylindrical Robot

2017 ◽  
Vol 13 (1) ◽  
pp. 114-122
Author(s):  
Abdul-Basset AL-Hussein
Keyword(s):  
Neural Network ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Tracking Error ◽  
Adaptive Controller ◽  
Robotic Manipulator ◽  
Lyapunov Theorem ◽  
External Disturbances ◽  
The Stability ◽  
Learning Law

A composite PD and sliding mode neural network (NN)-based adaptive controller, for robotic manipulator trajectory tracking, is presented in this paper. The designed neural networks are exploited to approximate the robotics dynamics nonlinearities, and compensate its effect and this will enhance the performance of the filtered error based PD and sliding mode controller. Lyapunov theorem has been used to prove the stability of the system and the tracking error boundedness. The augmented Lyapunov function is used to derive the NN weights learning law. To reduce the effect of breaching the NN learning law excitation condition due to external disturbances and measurement noise; a modified learning law is suggested based on e-modification algorithm. The controller effectiveness is demonstrated through computer simulation of cylindrical robot manipulator.

scholarly journals Whole-Body Motion Planning for a Six-Legged Robot Walking on Rugged Terrain

2019 ◽  
Vol 9 (24) ◽  
pp. 5284 ◽  
Author(s):  
Jie Chen ◽  
Fan Gao ◽  
Chao Huang ◽  
Jie Zhao
Keyword(s):  
Motion Planning ◽  
Spline Interpolation ◽  
Stability Margin ◽  
Joint Space ◽  
Body Motion ◽  
Whole Body ◽  
Legged Robot ◽  
Rugged Terrain ◽  
The Stability ◽  
The Moment

Whole-body motion planning is a key ability for legged robots, which allows for the generation of terrain adaptive behaviors and thereby improved mobility in complex environment. To this end, this paper addresses the issue of terrain geometry based whole-body motion planning for a six-legged robot over a rugged terrain. The whole-body planning is decomposed into two sub-tasks: leg support and swing. For leg support planning, the target pose of the robot torso in a walking step is first found by maximizing the stability margin at the moment of support-swing transition and matching the orientation of the support polygon formed by target footholds. Then, the torso and thereby the leg support trajectories are generated using cubic spline interpolation and transferred into joint space through inverse kinematics. In terms of leg swing planning, the trajectories in a walking step are generated by solving an optimal problem that satisfies three constraints and a bioinspired objective function. The proposed whole-body motion planning strategies are implemented with a simulation and a real-world six-legged robot, and the results show that stable and collision-free motions can be produced for the robot over rugged terrains.

A PD Robust Controller Design and Simulation Based on Two-Link Manipulator under Given Upper Bound Disturbance

2012 ◽  
Vol 503-504 ◽  
pp. 1540-1544
Author(s):  
Ji Yan Wang ◽  
Yu Xia Zhuang
Keyword(s):  
Upper Bound ◽  
Controller Design ◽  
Robot Manipulator ◽  
Industrial Robot ◽  
Stability And Convergence ◽  
Robust Controller ◽  
Simulation Based ◽  
The Stability ◽  
Driving Torque ◽  
Robust Controller Design

For industrial robot manipulator system, PD control theory is extensively used in the dynamic characteristics controlling. A PD robust controller is introduced to optimize the stability and convergence of traditional PD controller and avoid excess initial driving torque for two-link industrial manipulator system. By the co-simulation on ADAMS and Matlab/ Simulink, the paper designs a PD robust controller under given upper bound disturbance and completes track control and driving torque trial. Through result comparison and analysis, the superiority of the PD robust controller for two-link manipulator is verified.

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