scholarly journals Cross-Coupled Contouring Control of Multi-DOF Robotic Manipulator

2021 ◽  
Author(s):  
Puren Ouyang ◽  
Yuqi Hu ◽  
Wenhui Yue ◽  
Deshun Liu
Keyword(s):  
Control System ◽  
Translational Motion ◽  
Contour Error ◽  
Control Law ◽  
Contour Tracking ◽  
Pd Control ◽  
Tracking Errors ◽  
End Effector ◽  
Joint Level ◽  
Contouring Control

Reduction of contour error is a very important issue for high precise contour tracking applications, and many control systems were proposed to deal with contour tracking problems for two/three axial translational motion systems. However, there is no research on cross-coupled contour tracking control for serial multi-DOF robot manipulators. In this paper, the contouring control of multi-DOF serial manipulators is developed for the first time and a new cross-coupled PD (CC-PD) control law is proposed, based on contour errors of the end-effector and tracking errors of the joints. It is a combination of PD control for trajectory tracking at joint level and PD control for contour tracking at the end-effector level. The contour error of the end-effector is transformed to the equivalent tracking errors of the joints using the Jacobian regulation, and the CC-PD control law is implemented in the joint level. Stability analysis of the proposed CC-PD control system is conducted using the Lyapunov method, followed by some simulation studies for linear and nonlinear contour tracking to verify the effectiveness of the proposed CC-PD control system.

scholarly journals Cross-Coupled Contouring Control of Multi-DOF Robotic Manipulator

2021 ◽  
Author(s):  
Puren Ouyang ◽  
Yuqi Hu ◽  
Wenhui Yue ◽  
Deshun Liu
Keyword(s):  
Control System ◽  
Translational Motion ◽  
Contour Error ◽  
Control Law ◽  
Contour Tracking ◽  
Pd Control ◽  
Tracking Errors ◽  
End Effector ◽  
Joint Level ◽  
Contouring Control

Reduction of contour error is a very important issue for high precise contour tracking applications, and many control systems were proposed to deal with contour tracking problems for two/three axial translational motion systems. However, there is no research on cross-coupled contour tracking control for serial multi-DOF robot manipulators. In this paper, the contouring control of multi-DOF serial manipulators is developed for the first time and a new cross-coupled PD (CC-PD) control law is proposed, based on contour errors of the end-effector and tracking errors of the joints. It is a combination of PD control for trajectory tracking at joint level and PD control for contour tracking at the end-effector level. The contour error of the end-effector is transformed to the equivalent tracking errors of the joints using the Jacobian regulation, and the CC-PD control law is implemented in the joint level. Stability analysis of the proposed CC-PD control system is conducted using the Lyapunov method, followed by some simulation studies for linear and nonlinear contour tracking to verify the effectiveness of the proposed CC-PD control system.

Position Domain PD Control for Contour Tracking

2010 ◽  
Author(s):  
P. R. Ouyang ◽  
Truong Dam
Keyword(s):  
Motion Tracking ◽  
Control Method ◽  
Tracking Error ◽  
Original System ◽  
Contour Tracking ◽  
Pd Control ◽  
Tracking Errors ◽  
Motion System ◽  
Common Control ◽  
The Time Domain

For multi-axis motion control applications, contour tracking is one of the most common control problems encountered by industrial manipulators and robots. In this paper, a position domain PD control method is proposed for the purpose of improving the contour tracking performance. To develop the new control method, the multi-axis motion system is viewed as a master-slave motion system where the master motion is sampled equidistantly and used as an independent variable, while the slave motions are described as functions of the master motion according to the contour tracking requirements. The dynamic model of the multi-axis motion system is developed in the position domain based on the master motion by transforming the original system dynamic equations from the time domain to the position domain. In this control methodology, the master motion will yield zero tracking error for the position as it is used as reference, and only the slave motion tracking errors will affect the final contour tracking errors. The proposed position domain PD controller is successfully examined in a Cartesian robotic system for linear motion tracking and circular contour tracking.

Adaptive control of rigid-link electrically driven robots with parametric uncertainties in kinematics and dynamics and without acceleration measurements

Robotica ◽  
2014 ◽  
Vol 32 (7) ◽  
pp. 1153-1169 ◽  
Author(s):  
Mahboubeh Ahmadipour ◽  
Alireza Khayatian ◽  
Maryam Dehghani
Keyword(s):  
Motion Tracking ◽  
Jacobian Matrix ◽  
Control Law ◽  
Parametric Uncertainties ◽  
Tracking Errors ◽  
End Effector ◽  
Actuator Dynamics ◽  
Rigid Link ◽  
Control Scheme ◽  
Electrically Driven Robots

SUMMARYIn this paper, the backstepping strategy is used to design an adaptive tracking controller for rigid-link electrically driven robots in the presence of parametric uncertainties in kinematics, manipulator dynamics, and actuator dynamics. To avoid acceleration measurements, two techniques are exploited. One technique adds compensation control terms to the control law signal. The other uses a linear in variable property of the Jacobian matrix. Global asymptotic convergence of the end-effector motion tracking errors is shown via Lyapunov analysis. Simulation results are presented to show the effectiveness of the proposed control scheme.

Capture Strategy Based on a Distributed Control System for a Large-scale Space End-Effector

ROBOT ◽  
2011 ◽  
Vol 33 (4) ◽  
pp. 434-439 ◽  
Author(s):  
Dangyang JIE ◽  
Fenglei NI ◽  
Yisong TAN ◽  
Hong LIU ◽  
Hegao CAI
Keyword(s):  
Control System ◽  
Distributed Control ◽  
Large Scale ◽  
Scale Space ◽  
Distributed Control System ◽  
End Effector

Sliding Mode Control for Wheeled Inverted Pendulum

2014 ◽  
Vol 971-973 ◽  
pp. 714-717 ◽  
Author(s):  
Xiang Shi ◽  
Zhe Xu ◽  
Qing Yi He ◽  
Ka Tian
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
High Performance ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Experimental Results ◽  
Control Law ◽  
Collaborative Simulation ◽  
Mode Control ◽  
Wheeled Inverted Pendulum

To control wheeled inverted pendulum is a good way to test all kinds of theories of control. The control law is designed, and it based on the collaborative simulation of MATLAB and ADAMS is used to control wheeled inverted pendulum. Then, with own design of hardware and software of control system, sliding mode control is used to wheeled inverted pendulum, and the experimental results of it indicate short adjusting time, the small overshoot and high performance.

Design, Modelling and Simulation of a Rotational Robotic Arm

2020 ◽  
Author(s):  
Bin Wei
Keyword(s):  
Angular Velocity ◽  
3D Model ◽  
Modelling And Simulation ◽  
Robotic Arm ◽  
Forward Kinematics ◽  
Position Vector ◽  
Control Law ◽  
Model Design ◽  
End Effector ◽  
Design And Optimization

Abstract In this paper, a rotational robotic arm is designed, modelled and optimized. The 3D model design and optimization are conducted by using SolidWorks. Forward kinematics are derived so as to determine the position vector of the end effector with respect to the base, and subsequently being able to calculate the angular velocity and torque of each joint. For the goal positioning problem, the PD control law is typically used in industry. It is employed in this application by using virtual torsional springs and frictions to generate the torques and to keep the system stable.

Scheduling Strategy of Multiple Semi-Active Controllers With Information on the Disturbance and the Structural Response

2016 ◽  
Author(s):  
Kazuhiko Hiramoto ◽  
Taichi Matsuoka ◽  
Katsuaki Sunakoda
Keyword(s):  
Optimal Control ◽  
Control System ◽  
Active Control ◽  
Structural Response ◽  
Design Parameters ◽  
Control Law ◽  
Control Performance ◽  
Multiple Control ◽  
Control Laws ◽  
Scheduling Strategy

A scheduling strategy of multiple semi-active control laws for various earthquake disturbances is proposed to maximize the control performance. Generally, the semi-active controller for a given structural system is designed as a single control law and the single control law is used for all the forthcoming earthquake disturbances. It means that the general semi-active control should be designed to achieve a certain degree of the control performance for all the assumed disturbances with various time and/or frequency characteristics. Such requirement on the performance robustness becomes a constraint to obtain the optimal control performance. We propose a scheduling strategy of multiple semi-active control laws. Each semi-active control law is designed to achieve the optimal performance for a single earthquake disturbance. Such optimal control laws are scheduled with the available data in the control system. As the scheduling mechanism of the multiple control laws, a command signal generator (CSG) is defined in the control system. An artificial neural network (ANN) is adopted as the CSG. The ANN-based CSG works as an interpolator of the multiple control laws. Design parameters in the CSG are optimized with the genetic algorithm (GA). Simulation study shows the effectiveness of the approach.

scholarly journals Position Domain Synchronization Control For Robotic Manipulators

2021 ◽  
Author(s):  
Vangjel Pano
Keyword(s):  
Time Domain ◽  
Robotic Manipulators ◽  
Synchronization Control ◽  
Control Law ◽  
Control Input ◽  
Contour Tracking ◽  
Hybrid Controller ◽  
Reference Motion ◽  
Control Scheme ◽  
Control Schemes

Developed in this thesis is a new control law focusing on the improvement of contour tracking of robotic manipulators. The new control scheme is a hybrid controller based on position domain control (PDC) and position synchronization control (PSC). On PDC, the system’s dynamics are transformed from time domain to position domain via a one-to-one mapping and the position of the master axis motion is used as reference instead of time. The elimination of the reference motion from the control input improves contouring performance relative to time domain controllers. Conversely, PSC seeks to reduce the error of the systems by diminishing the synchronization error between each agent of the system. The new control law utilizes the aforementioned techniques to maximize the contour performance. The Lyapunov method was used to prove the proposed controller’s stability. The new control law was compared to existing control schemes via simulations of linear and nonlinear contours, and was shown to provide good tracking and contouring performances.

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