A Research on Impedance Control Based on ANN Inverse System for Robot Manipulator

2014 ◽  
Vol 687-691 ◽  
pp. 560-563 ◽  
Author(s):  
Zhen Yang ◽  
Wei Zhang ◽  
Shang Lin Yang ◽  
Fang Wang
Keyword(s):  
Mathematical Model ◽  
Robot Manipulator ◽  
Impedance Control ◽  
Dynamic Control ◽  
Difficult Problem ◽  
Inverse System ◽  
Outer Loop ◽  
And Control

Because of lacking the imprecise mathematical model is a difficult problem in the area of dynamic control for robot manipulator. In this paper, a novel scheme which can realize the decoupling for robot by ANN inverse system in the inner loop and control the position and force in the outer loop is presented. The method is studied in the environment of Matlab and is realized by a manipulator in Lab. Analyzed from the experiment result, this algorithm is very feasible and it provides a basis for the further research.

A Research on Simulations for the Adaptive Impedance Algorithm of Robot Manipulator

2014 ◽  
Vol 687-691 ◽  
pp. 548-551
Author(s):  
Fang Wang ◽  
Hua Sun ◽  
Jia Guo Lv ◽  
Zhen Yang
Keyword(s):  
Mathematical Model ◽  
Control Algorithm ◽  
Simulation Experiment ◽  
Robot Manipulator ◽  
Impedance Control ◽  
Planar Robot ◽  
Adaptive Impedance Control ◽  
The Mathematical Model

In this paper, the adaptive impedance control proposed by Seul is studied in detail aiming at the disadvantages of traditional impedance control algorithm. In simulation experiment, above two methods are used to control the planar robot. The performance of merits of two algorithms is analyzed detailedly. From the final result of simulation, the adaptive impedance control algorithm has the performance of robustness, that is: it can perform well as though the mathematical model of robot is not accurate and it can work well in the bad working circumstance.

scholarly journals Development of an Experimental Robotic Complex for Direct Metal Deposition and Testing of Deposition Modes for Heat-Resistant Powder Material

2022 ◽  
Author(s):  
M.A. Oleynik
Keyword(s):  
Mathematical Model ◽  
Robot Manipulator ◽  
Industrial Robot ◽  
Metal Deposition ◽  
Direct Metal Deposition ◽  
Joint Work ◽  
Control Programs ◽  
Tool Trajectory ◽  
Working Together ◽  
And Control

Abstract. The paper considers the issue of optimizing the movement of an industrial robot used in additive manufacturing in the technology of direct metal deposition of parts. The developed mathematical model that takes into account the joint work of a six-axis robot manipulator and a two-axis positioner is described. The algorithm for calculating the motion based on the relative position of two adjacent points of the working tool trajectory relative to the rotary axis of the positioner with a given accuracy is described. The simulation of processing is carried out both when working only with the manipulator, and when working together with a two-axis positioner, and control programs with recalculated coordinates and rotation angles of the positioner are obtained.

Simulation of Manipulator with Flexible Joint

2013 ◽  
Vol 325-326 ◽  
pp. 999-1003
Author(s):  
Hai Wang ◽  
Xiao Pin Xia
Keyword(s):  
Robot Manipulator ◽  
Dynamic Control ◽  
Control Law ◽  
Static Error ◽  
Lagrange Method ◽  
Flexible Joint ◽  
Joint Flexibility ◽  
Single Link ◽  
Key Factor ◽  
And Control

Joint flexibility is the key factor during dynamic control of robot manipulator. Accurate dynamic model is the fundamental of manipulator system design, analysis and control. This paper adopts Lagrange method to accomplish two degrees freedom manipulator modeling, and then design Backstepping control law according to a single-link manipulator. For the above control law, the proof of the Lyapunov stability is given and simulations are done. The simulated result suggested that the static error is decreased.

scholarly journals Sensorless environment stiffness and interaction force estimation for impedance control tuning in robotized interaction tasks

2021 ◽  
Author(s):  
Loris Roveda ◽  
Dario Piga
Keyword(s):  
Impedance Control ◽  
Interaction Force ◽  
Industrial Robots ◽  
Force Estimation ◽  
Interaction Control ◽  
Stiffness Properties ◽  
Implementation Effort ◽  
Coupling Dynamics ◽  
And Control ◽  
Assembly Tasks

AbstractIndustrial robots are increasingly used to perform tasks requiring an interaction with the surrounding environment (e.g., assembly tasks). Such environments are usually (partially) unknown to the robot, requiring the implemented controllers to suitably react to the established interaction. Standard controllers require force/torque measurements to close the loop. However, most of the industrial manipulators do not have embedded force/torque sensor(s) and such integration results in additional costs and implementation effort. To extend the use of compliant controllers to sensorless interaction control, a model-based methodology is presented in this paper. Relying on sensorless Cartesian impedance control, two Extended Kalman Filters (EKF) are proposed: an EKF for interaction force estimation and an EKF for environment stiffness estimation. Exploiting such estimations, a control architecture is proposed to implement a sensorless force loop (exploiting the provided estimated force) with adaptive Cartesian impedance control and coupling dynamics compensation (exploiting the provided estimated environment stiffness). The described approach has been validated in both simulations and experiments. A Franka EMIKA panda robot has been used. A probing task involving different materials (i.e., with different - unknown - stiffness properties) has been considered to show the capabilities of the developed EKFs (able to converge with limited errors) and control tuning (preserving stability). Additionally, a polishing-like task and an assembly task have been implemented to show the achieved performance of the proposed methodology.

Trajectory Planning and Control of Handling Robot Manipulator

2021 ◽  
Vol 1802 (2) ◽  
pp. 022067
Author(s):  
Xing Zhang ◽  
Hao Kou ◽  
Yi Zhang ◽  
Kaina Jan ◽  
Boris Ivanovic
Keyword(s):  
Trajectory Planning ◽  
Robot Manipulator ◽  
Planning And Control ◽  
And Control ◽  
Trajectory Planning And Control

Modelling and control of manipulators with flexible links working on land and underwater environments

Robotica ◽  
2010 ◽  
Vol 29 (3) ◽  
pp. 461-470 ◽  
Author(s):  
Levent Gümüşel ◽  
Nurhan Gürsel Özmen
Keyword(s):  
Fuzzy Control ◽  
Control Method ◽  
Robot Manipulator ◽  
Control Methods ◽  
Control Laws ◽  
Linear Ordinary Differential Equations ◽  
Intelligent Technique ◽  
Wide Range ◽  
Classical Control ◽  
And Control

SUMMARYIn this study, modelling and control of a two-link robot manipulator whose first link is rigid and the second one is flexible is considered for both land and underwater conditions. Governing equations of the systems are derived from Hamilton's Principle and differential eigenvalue problem. A computer program is developed to solve non-linear ordinary differential equations defining the system dynamics by using Runge–Kutta algorithm. The response of the system is evaluated and compared by applying classical control methods; proportional control and proportional + derivative (PD) control and an intelligent technique; integral augmented fuzzy control method. Modelling of drag torques applied to the manipulators moving horizontally under the water is presented. The study confirmed the success of the proposed integral augmented fuzzy control laws as well as classical control methods to drive flexible robots in a wide range of working envelope without overshoot compared to the classical controls.

Dynamics Analysis and Control of 5 DOF Robot Manipulator

2021 ◽  
Author(s):  
Muhammad Salman ◽  
Hamza Khan ◽  
Saad Jamshed Abbasi ◽  
Min Cheol Lee
Keyword(s):  
Robot Manipulator ◽  
Dynamics Analysis ◽  
And Control

A prey–predator model and control of a nematodes pest using control in banana: Mathematical modeling and qualitative analysis

2021 ◽  
pp. 2150089
Author(s):  
Sudhakar Yadav ◽  
Vivek Kumar
Keyword(s):  
Mathematical Modeling ◽  
Mathematical Model ◽  
Local Stability ◽  
Detection Method ◽  
Initial Release ◽  
Pest Detection ◽  
Predator Model ◽  
And Control ◽  
The Mathematical Model ◽  
Theoretical Results

This study develops a mathematical model for describing the dynamics of the banana-nematodes and its pest detection method to help banana farmers. Two criteria: the mathematical model and the type of nematodes pest control system are discussed. The sensitivity analysis, local stability, global stability, and the dynamic behavior of the mathematical model are performed. Further, we also develop and discuss the optimal control mathematical model. This mathematical model represents various modes of management, including the initial release of infected predators as well as the destroying of nematodes. The theoretical results are shown and verified by numerical simulations.

Temperature Prediction at the Blow End of the Converter via Control Model

2014 ◽  
Vol 1025-1026 ◽  
pp. 298-301
Author(s):  
Alexandre Furtado Ferreira
Keyword(s):  
Mathematical Model ◽  
Dynamic Control ◽  
Control Model ◽  
Mass Balances ◽  
Temperature Prediction ◽  
Oxygen Blow ◽  
Model Based ◽  
Gas Control ◽  
Prediction Capability

In the present work, a technique and model for temperature prediction at the blow end are briefly discussed, along with their limitations and perspectives for application. As a result of this analysis, a mathematical model based in heat and mass balances has been developed with a view to evaluating the possibility of improving this prediction capability. The study here presented focuses the development of a semi-dynamic control model in the LD-KGC converter (Linz-Donawitz-Kawasaki Gas Control Converter). The control model enables one to predict the temperature of the blow end by solving both the energy and mass equations. The inputs to the control model are the load data of the LD-KGC converter at the blow beginning and the collected data by the lance to 89% of oxygen blow. The results obtained in the present work were compared to the data measured in steelmaking. The semi-dynamic control model results agree well with data for LD-KGC converters.

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