Drilling Force Control for Robot Manipulator with Combined Rigid and Soft Surface

2013 ◽  
Vol 303-306 ◽  
pp. 1741-1747
Author(s):  
Zahari Taha ◽  
Abdelhakim Deboucha ◽  
Azeddein Kinsheel
Keyword(s):  
Control Problem ◽  
Position Control ◽  
Robot Manipulator ◽  
Industrial Robot ◽  
Drilling Process ◽  
Drilling Force ◽  
Control Scheme ◽  
Soft Surface ◽  
Mass Spring ◽  
Computed Torque

This paper presents an efficient force position control scheme for high precision drilling on soft surfaces using industrial robot. The control problem is divided into two parts; the gross motion control problem and the drilling control problem. In the gross motion stage the robot motion is controlled using computed torque technique. The drilling process is controlled using hybrid force position control that maintains the desired force and trajectory profiles. The soft surface is represented by single degree of freedom mass-spring-damper system. The performance of the system is tested using 6-dof PUMA 560 robot model.

A hybrid impedance control scheme for underwater welding robots with a passive foundation in the controller domain

SIMULATION ◽  
2017 ◽  
Vol 93 (7) ◽  
pp. 619-630 ◽  
Author(s):  
Sunil Kumar ◽  
Vikas Rastogi ◽  
Pardeep Gupta
Keyword(s):  
Minimum Distance ◽  
Position Control ◽  
Robot Manipulator ◽  
Impedance Control ◽  
Graph Model ◽  
Proportional Integral Derivative ◽  
End Effector ◽  
Flexible Arm ◽  
Control Scheme ◽  
Effective Stability

A hybrid impedance control scheme for the force and position control of an end-effector is presented in this paper. The interaction of the end-effector is controlled using a passive foundation with compensation gain. For obtaining the steady state, a proportional–integral–derivative controller is tuned with an impedance controller. The hybrid impedance controller is implemented on a terrestrial (ground) single-arm robot manipulator. The modeling is done by creating a bond graph model and efficacy is substantiated through simulation results. Further, the hybrid impedance control scheme is applied on a two-link flexible arm underwater robot manipulator for welding applications. Underwater conditions, such as hydrodynamic forces, buoyancy forces, and other disturbances, are considered in the modeling. During interaction, the minimum distance from the virtual wall is maintained. A simulation study is carried out, which reveals some effective stability of the system.

Application of non-linear H∞ control to the Tetrabot robot manipulator

1998 ◽  
Vol 212 (6) ◽  
pp. 459-465 ◽  
Author(s):  
I Postlethwaite ◽  
A Bartoszewicz
Keyword(s):  
Degrees Of Freedom ◽  
Robot Manipulator ◽  
Industrial Robot ◽  
External Disturbances ◽  
Six Degrees Of Freedom ◽  
Control Scheme ◽  
Non Linear ◽  
Modelling Uncertainties ◽  
Real Robot ◽  
Robotic Application

In this paper, an application of a non-linear H∞ control law for an industrial robot manipulator is presented. Control of the manipulator motion is formulated into a non-linear H∞ optimization problem, namely optimal tracking performance in the presence of modelling uncertainties and external disturbances. Analytical solutions for this problem are implemented on a real robot. The robot under consideration is the six-degrees-of-freedom GEC Tetrabot. Investigations are made into the selection of weights for the H∞ controller and it is shown how different selections of weights affect the Tetrabot performance. The authors believe this to be the first robotic application of nonlinear H∞ control. Comparisons of the proposed control strategy with conventional proportional-derivative and proportional-integral-derivative controllers show favourable performance of the Tetrabot under the new non-linear H∞ control scheme.

Adaptive neuro fuzzy based hybrid force/position control for an industrial robot manipulator

2014 ◽  
Vol 27 (6) ◽  
pp. 1299-1308 ◽  
Author(s):  
Himanshu Chaudhary ◽  
Vikas Panwar ◽  
Rajendra Prasad ◽  
N. Sukavanam
Keyword(s):  
Position Control ◽  
Robot Manipulator ◽  
Industrial Robot ◽  
Neuro Fuzzy

scholarly journals ANFIS PD+I Based Hybrid Force/ Position Control of an Industrial Robot Manipulator

2014 ◽  
Vol 2 (2) ◽  
pp. 107-112 ◽  
Author(s):  
Himanshu Chaudhary ◽  
Vikas Panwar ◽  
Sukavanam N ◽  
Rajendra Prasad
Keyword(s):  
Position Control ◽  
Robot Manipulator ◽  
Industrial Robot

A genetic algorithm-based computed torque control for slider–crank mechanism in the ship’s propeller

2013 ◽  
Vol 228 (12) ◽  
pp. 2090-2099 ◽  
Author(s):  
Farsam Farzadpour ◽  
Hossein Faraji
Keyword(s):  
Genetic Algorithm ◽  
Position Control ◽  
Torque Control ◽  
Process Noise ◽  
Piston Cylinder ◽  
Computed Torque Control ◽  
Control Scheme ◽  
Crank Mechanism ◽  
Parameter Deviation ◽  
Computed Torque

A lot of endeavors regarding the development of slider–crank mechanism in the ship’s propeller have been made and continue to be investigated. This paper presents the position control of a slider–crank mechanism, which is driven by the piston cylinder actuator to adjust the blade pitch angle. An effective motion control strategy known as the computed torque control can ensure global asymptotic stability. However, it is essential for this control scheme to have a precise and accurate system model. Moreover, large amounts of changes in the output and even instability of process are caused by a small amount of measurement or process noise, when the derivative gain is sufficiently large. Accordingly, in order to compensate any parameter deviation and disturbances as well as minimizing errors, we have presented a genetic algorithm-based computed torque control system which adjusts the proportional-derivative gains. Computer simulations are performed which reveals that asymptotically stability is reached and it confirms the effectiveness and high tracking capability of the proposed control scheme.

Fuzzy PD+I based Hybrid force/ position control of an Industrial Robot Manipulator

2014 ◽  
Vol 47 (1) ◽  
pp. 429-436 ◽  
Author(s):  
Himanshu Chaudhary ◽  
Vikas Panwar ◽  
N. Sukavanum ◽  
Rajendra Prasad
Keyword(s):  
Position Control ◽  
Robot Manipulator ◽  
Industrial Robot ◽  
Fuzzy Pd

scholarly journals Parallel Force/Position Control Schemes with Experiments on an Industrial Robot Manipulator

1996 ◽  
Vol 29 (1) ◽  
pp. 25-30 ◽  
Author(s):  
Stefano Chiaverini ◽  
Bruno Siciliano ◽  
Luigi Villani
Keyword(s):  
Position Control ◽  
Robot Manipulator ◽  
Industrial Robot ◽  
Control Schemes

Sliding-Mode Position Control of PMSLM Based on Grey Forecasting Model

2014 ◽  
Vol 687-691 ◽  
pp. 85-88
Author(s):  
Hua Sun ◽  
Yue Hong Dai ◽  
Chuan Sheng Tang
Keyword(s):  
Control Problem ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
Friction Model ◽  
Forecasting Model ◽  
Control Law ◽  
Compensation Control ◽  
Grey Forecasting ◽  
Control Scheme

This paper presented a new method of sliding mode control for position control problem in view of the uncertainty of friction model of permanent magnet synchronous linear motor (PMSLM). This is an estimation compensation control scheme for non-homogeneous sequence data.The stability of the proposed control law was verified according to Lyapunov stable theory.Comparison with traditional control was given through Matlab simulations, which proved the feasibility and efficiency of the proposed control method for PMSLM drive system.

Position-Based Fractional-Order Impedance Control of a 2 DOF Serial Manipulator

Robotica ◽  
2021 ◽  
pp. 1-15
Author(s):  
Selçuk Kizir ◽  
Ali Elşavi
Keyword(s):  
Fractional Order ◽  
Position Control ◽  
Robot Manipulator ◽  
Impedance Control ◽  
Torque Control ◽  
Control Scheme ◽  
Absorption Performance ◽  
And Performance ◽  
Comparison Of The Results ◽  
Robotic Tasks

SUMMARY Impedance control is one of the interaction and force control methods that has been widely applied in the research of robotics. In this paper, a new position-based fractional-order impedance control scheme is proposed and applied to a 2 DOF serial manipulator. An RR robot manipulator with full arm dynamics and its environment were designed using Matlab/Simulink. The position control of the manipulator was utilized based on computed torque control to cancel out the nonlinearities existing on the dynamic model of the robot. Parameters of classical impedance controller (CIC) and proposed fractional-order impedance controller (FOIC) were optimized in order to minimize impact forces for comparison of the results in three conditions. In CIC condition: three constant parameters of the impedance controller were optimized: in Frac_λμ condition: Only non-integer parameters of the FOIC were re-optimized after the parameters in CIC had been accepted, and in Frac_all condition: all parameters of the FOIC were re-optimized. In order to show the effectiveness of the proposed method, simulations were conducted for all cases and performance indices were computed for the interaction forces. Results showed that impacts were reduced with an improvement of 26.12% from CIC to Frac_ λμ and an improvement of 47.21% from CIC to Frac_all. The proposed scheme improves the impedance behavior and robustness showing better impact absorption performance, which is needed in many challenging robotic tasks and intelligent mechatronic devices.

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