Vision-Based Tip Position Control of a Single-Link Robot Manipulator

2019 ◽  
Author(s):  
Umesh Kumar Sahu ◽  
Arun Mishra ◽  
Biswajeet Sahu ◽  
Prateek Priyaranjan Pradhan ◽  
Dipti Patra ◽  
...  
Keyword(s):  
Position Control ◽  
Robot Manipulator ◽  
Single Link ◽  
Tip Position

scholarly journals Evolutionary computing approaches to optimum design of fuzzy logic controller for a flexible robot system

2013 ◽  
Vol 23 (4) ◽  
pp. 395-412 ◽  
Author(s):  
Bidyadhar Subudhi ◽  
Subhakanta Ranasingh
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Controller ◽  
Position Control ◽  
Fitness Function ◽  
Flexible Manipulator ◽  
Position Tracking ◽  
Flexible Robot ◽  
Robot System ◽  
Single Link ◽  
Tip Position

Abstract This paper presents the design of a Fuzzy Logic Controller (FLC) whose parameters are optimized by using Genetic Algorithm (GA) and Bacteria Foraging Optimization (BFO) for tip position control of a single link flexible manipulator. The proposed FLC is designed by minimizing the fitness function, which is defined as a function of tip position error, through GA and BFO optimization algorithms achieving perfect tip position tracking of the single link flexible manipulator. Then the tip position responses obtained by using both the above controllers are compared to suggest the best controller for the tip position tracking.

POSITION CONTROL OF SINGLE LINK UNDERWATER ROBOT MANIPULATOR

2015 ◽  
Vol 74 (9) ◽  
Author(s):  
Ahmad Zaki Hj Shukor ◽  
Muhammad Fahmi Miskon ◽  
Fariz Ali @ Ibrahim ◽  
Muhammad Khairi Md Nor
Keyword(s):  
Pid Control ◽  
Position Control ◽  
Robot Manipulator ◽  
Single Link ◽  
Underwater Manipulator ◽  
Frequency Position ◽  
Underwater Manipulation ◽  
Ship Repair ◽  
Reference Trajectories ◽  
Manipulator Control

This paper presents the responses of underwater manipulator control using conventional PID controller. Underwater manipulation tasks are difficult due to the presence of water as its environment. Many underwater vehicles invented incorporate underwater manipulators which could be used for underwater rescue, recovery or operations such as welding or ship repair. It is desired to investigate the position response of underwater manipulator using conventional PID control without modelling the dynamics which includes motion in water. For this purpose, a single link manipulator was experimented and compared between the response of the manipulator underwater and the manipulator without water to compare accuracy of the position tracking. Two different reference trajectories were given, namely step and varying frequency position control.

Collaborative Tracking Control Strategy for Autonomous Excavation of a Hydraulic Excavator

2021 ◽  
Vol 10 (1) ◽  
pp. 43
Author(s):  
Fattah Hanafi Sheikhha ◽  
Ali Afzalaghaeinaeini ◽  
Jaho Seo
Keyword(s):  
Control Strategy ◽  
Tracking Control ◽  
Position Control ◽  
Simulation Models ◽  
Hydraulic Excavator ◽  
Tracking Errors ◽  
Collaborative Tracking ◽  
Autonomous Excavation ◽  
Tip Position ◽  
Electrohydraulic Actuators

A hydraulic excavator consists of multiple electrohydraulic actuators (EHA). Due to uncertainties and nonlinearities in EHAs, it is challenging to devise a proper control strategy. To tackle this issue, a major goal of our study is to provide an efficient control strategy to minimize tracking errors of the bucket tip position for autonomous excavation. To accomplish the goal, the study offers a collaboration of PID and fuzzy controllers that are used to compensate for contour errors and achieve accurate actuator position control, respectively. Co-simulation models including control algorithms and hydraulic components were created using Matlab and Amesim to validate the performance of the designed controllers. Simulations indicate that the proposed method enables achieving accurate tracking control for autonomous excavation with small tracking errors despite the nonlinear characteristics of the hydraulic excavator system.

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