scholarly journals Control of a Robot Manipulator using Model Following Control

2020 ◽  
Vol 8 (6) ◽  
pp. 3504-3507
Keyword(s):  
Robust Control ◽  
Robot Manipulator ◽  
Industrial Robots ◽  
Degree Of Freedom ◽  
Physical Parameters ◽  
Control Parameters ◽  
Model Following Control ◽  
Model Following ◽  
Simulation Results ◽  
The Ideal

In this work the simulation results of a 2 degree of freedom plant driven by model are shown. Here Model following control (MFC) system is applied to operate the plant in a better way. Initially a model is constructed, whose states are ideal with respect to the control parameters. The plant and the model essentially have same physical parameters. An input is given to the model and the plant is run by the errors, computed by comparing the states of the plant and model. In this way the plant is forced to follow the ideal states of the model. The results show that the plant is able to follow the model very accurately. The robust control observed in the scheme can be easily implemented for better performance of industrial robots.

scholarly journals Model Following Control of a Higher Order Plant by a Lower Order Model

2020 ◽  
pp. 478-482
Keyword(s):  
Robot Manipulator ◽  
Mathematical Expression ◽  
Input Voltage ◽  
Industrial Robots ◽  
Degree Of Freedom ◽  
Flexible Robot ◽  
Ideal Model ◽  
Model Following Control ◽  
Model Following ◽  
Amplifier Gain

In this paper, based on Model Following Control (MFC) approach, a robust controller is used to control a flexible robot manipulator along a pre-defined trajectory. Here two degree of freedom plant is considered that has two different inertias. The plant is run by the single degree of freedom ideal model. Primarily, an ideal model is formulated from the mathematical expression and by selecting a suitable feedback amplifier gain a well-defined response is established. A reference input voltage is given to the model and the plant is driven by the errors, generated from the differences of the states between the plant and model. Here special attention is given to the fact that how precisely the states of the plant can follow the ideal states of the model. The proposed model following control (MFC) system may be used successfully in industrial robots.

Simple two degree of freedom structures and their properties

Robotica ◽  
2006 ◽  
Vol 24 (3) ◽  
pp. 365-372 ◽  
Author(s):  
Rafael Osypiuk ◽  
Bernd Finkemeyer ◽  
Stanislaw Skoczowski
Keyword(s):  
Robot Manipulator ◽  
Design Procedure ◽  
Internal Model Control ◽  
Degree Of Freedom ◽  
Loop Control ◽  
Model Following Control ◽  
Model Following ◽  
Model Control ◽  
Quantitative Results ◽  
Two Degree Of Freedom

A two-degree of freedom control system that is most frequently encountered in practice is the so-called Internal Model Control (IMC) structure. However, the design procedure of such a structure does not present an easy task, which implies a limited utility of IMC. In this paper two alternative solutions are proposed that may be lumped together as Model-Following Control (MFC). These are two-loop control systems being easy to implement and offering interesting properties. Theoretical assumptions have been verified experimentally on a two-joint robot manipulator. Both qualitative and quantitative results yielded by experiments are presented and discussed.

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 A Robotic Deburring Methodology for Tool Path Planning and Process Parameter Control of a Five-Degree-of-Freedom Robot Manipulator

2019 ◽  
Vol 9 (10) ◽  
pp. 2033 ◽  
Author(s):  
Wanjin Guo ◽  
Ruifeng Li ◽  
Yaguang Zhu ◽  
Tong Yang ◽  
Rui Qin ◽  
...  
Keyword(s):  
Path Planning ◽  
Tool Path ◽  
Control Method ◽  
Robot Manipulator ◽  
Process Parameter ◽  
Industrial Robots ◽  
Degree Of Freedom ◽  
Parameter Control ◽  
Tool Path Planning ◽  
Dexterous Manipulation

Industrial robotics is a continuously developing domain, as industrial robots have demonstrated to possess benefits with regard to robotic automation solutions in the industrial automation field. In this article, a new robotic deburring methodology for tool path planning and process parameter control is presented for a newly developed five-degree-of-freedom hybrid robot manipulator. A hybrid robot manipulator with dexterous manipulation and two experimental platforms of robot manipulators are presented. A robotic deburring tool path planning method is proposed for the robotic deburring tool position and orientation planning and the robotic layered deburring planning. Also, a robotic deburring process parameter control method is proposed based on fuzzy control. Furthermore, a dexterous manipulation verification experiment is conducted to demonstrate the dexterous manipulation and the orientation reachability of the robot manipulator. Additionally, two robotic deburring experiments are conducted to verify the effectiveness of the two proposed methods and demonstrate the highly efficient and dexterous manipulation and deburring capacity of the robot manipulator.

scholarly journals Robust Control for a Two DOF Robot Manipulator

2019 ◽  
Vol 2019 ◽  
pp. 1-11
Author(s):  
Fatma Massaoudi ◽  
Dorsaf Elleuch ◽  
Tarak Damak
Keyword(s):  
Robust Control ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Model Uncertainties ◽  
Robot System ◽  
Control Techniques ◽  
Simulation Results ◽  
Manipulator Robot

In this paper, we present robust control techniques applied on a manipulator robot system: modified sliding mode control (MSMC) and backstepping control (BSC). The purpose is to evaluate SMC and BSC performances, taking into account the model uncertainties. Then, the obtained results of MSMC technique are compared with those of the adaptive sliding mode. Both methods have comparable simulation results which show a good quality of robustness. However, simulation results prove that the modified SMC is more robust, mostly under the effect of external variations and uncertainties.

An Experimental Study of a Single-Degree-of-Freedom Impact Oscillator

2021 ◽  
Author(s):  
Shun Zhong ◽  
Jingyuan Tan ◽  
Zhicheng Cui ◽  
Tanghong Xu ◽  
Liqing Li
Keyword(s):  
Dynamical Behavior ◽  
Degree Of Freedom ◽  
Experimental Results ◽  
Physical Parameters ◽  
Impact Oscillator ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Design Choice ◽  
Wide Range ◽  
Simulation Results

Purpose. Impacts appear in a wide range of mechanical systems. To study the dynamical behavior introduced by impact in practical way, a single-degree-of-freedom impact oscillator rig is designed. Originality. A simple piece-wise linear system with symmetrical flexible constraints is designed and manufactured to carry out a wide range of experimental dynamic analysis and ultimately to validate piece-wise models. The new design choice is based on the following criteria: accuracy in representing the mathematical model, manufacturing simplicity, flexibility in terms of parameter changes and cost effectiveness as well avoidance of the delay introduced by the structure. Meanwhile, the new design provides the possibility of the applications of the complex control algorithms. Design/methodology/approach. The design process is described in detail. The initial experimental results of the rig as well as numerical simulation results are given. In this rig, the mass driven force is generated by electromagnet, which can be adjusted and control easily. Also, most of the physical parameters can be varied in a certain range to enhance flexibility of the system allowing to observe subtle phenomena. Findings. Compared with the simulation results, the designed rig is proved to be validated. Then, the initial experimental results demonstrate potentials of this rig to study fundamental impact phenomena, which have been observed in various engineering systems. They also indicate that this rig can be a good platform for investigating nonlinear control methods.

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