The Design and Simulation for Two-Link Manipulators PD Robust Controller under Uncertain Upper Bound Disturbance

2013 ◽  
Vol 694-697 ◽  
pp. 1652-1655
Author(s):  
Ji Yan Wang
Keyword(s):  
Dynamic Characteristics ◽  
Upper Bound ◽  
Control Method ◽  
Robot Manipulator ◽  
Industrial Robot ◽  
Pd Controller ◽  
Robust Controller ◽  
Convergence And Stability ◽  
Comparison And Analysis ◽  
Driving Torque

PD control method is widely utilized for the dynamic characteristics controlling in industrial robot manipulator area. The disturbance is usually uncertain in reality; the traditional PD controller is limited in that case. In this paper, a PD robust controller is introduced to optimize the convergence and stability of PD controller and avoid the extreme initial driving torque for two-link manipulator system. Using the co-simulation on Matlab/ Simulink and ADAMS, the paper designs a PD robust controller under uncertain upper bound disturbance and completes track control and driving torque simulation trial. The superiority of the two-link manipulators PD robust controller is verified through result comparison and analysis.

A PD Robust Controller Design and Simulation Based on Two-Link Manipulator under Given Upper Bound Disturbance

2012 ◽  
Vol 503-504 ◽  
pp. 1540-1544
Author(s):  
Ji Yan Wang ◽  
Yu Xia Zhuang
Keyword(s):  
Upper Bound ◽  
Controller Design ◽  
Robot Manipulator ◽  
Industrial Robot ◽  
Stability And Convergence ◽  
Robust Controller ◽  
Simulation Based ◽  
The Stability ◽  
Driving Torque ◽  
Robust Controller Design

For industrial robot manipulator system, PD control theory is extensively used in the dynamic characteristics controlling. A PD robust controller is introduced to optimize the stability and convergence of traditional PD controller and avoid excess initial driving torque for two-link industrial manipulator system. By the co-simulation on ADAMS and Matlab/ Simulink, the paper designs a PD robust controller under given upper bound disturbance and completes track control and driving torque trial. Through result comparison and analysis, the superiority of the PD robust controller for two-link manipulator is verified.

Feed-Forward Compensated PD Controller and PD Robust Controller Simulation Comparison on Uncertain Single-Manipulator

2012 ◽  
Vol 490-495 ◽  
pp. 999-1003
Author(s):  
Ji Yan Wang ◽  
Tian Xu ◽  
Zheng Yin Ni
Keyword(s):  
Dynamic Characteristics ◽  
Industrial Robot ◽  
Pd Controller ◽  
Velocity Control ◽  
Pd Control ◽  
Robust Controller ◽  
Matlab Simulink ◽  
Feed Forward ◽  
Comparison And Analysis ◽  
Developing Method

2D rotary robotic manipulator is an ordinary mechanical structure of industrial robot. PD control is an ever-developing method for the dynamic characteristics controlling. By the co-simulation on ADAMS and Matlab/Simulink, the paper designs a feed-forward compensation PD controller and PD robust controller based on single-manipulator model and completes track and velocity control trial respectively. Through result comparison and analysis, the superiority of PD robust controller for uncertain single-manipulator is verified.

A Modified Feed-Forward Compensated PD Controller Design and Simulation Comparison Based on Two-Link Manipulator

2012 ◽  
Vol 482-484 ◽  
pp. 1245-1248 ◽  
Author(s):  
Ji Yan Wang ◽  
Xu Fei Si ◽  
Rong Chun Guo
Keyword(s):  
Dynamic Characteristics ◽  
Controller Design ◽  
Robot Manipulator ◽  
Industrial Robot ◽  
Stability And Convergence ◽  
Pd Controller ◽  
Feed Forward ◽  
Industrial Manipulator ◽  
Comparison And Analysis ◽  
The Stability

For industrial robot manipulator system, PD control theory is extensively used in the dynamic characteristics controlling. A new modified feed-forward compensation PD controller is introduced to optimize the stability and convergence of traditional PD controller for industrial manipulator system. By the co-simulation on ADAMS and Matlab/ Simulink, the paper designs a modified feed-forward compensation PD controller based on two-link manipulator model and completes track control trial. Through result comparison and analysis, the superiority of the new modified PD controller for two-link manipulator is verified.

Improving robotic impedance control performance employing a cascaded controller based on virtual dynamics model

2022 ◽  
pp. 095440622110235
Author(s):  
Guanghui Liu ◽  
Bing Han
Keyword(s):  
Control Method ◽  
Robot Manipulator ◽  
Impedance Control ◽  
Industrial Robot ◽  
Mechanical Impedance ◽  
Superior Performance ◽  
Admittance Control ◽  
Dynamics Model ◽  
External Loop ◽  
Virtual Impedance

We propose a cascaded impedance control algorithm based on a virtual dynamics model (VDM) to achieve robust and effective mechanical impedance for a robot interacting with unknown environments. This cascaded controller consists of an internal loop of virtual impedance control based on a VDM and an external loop of impedance reference control. The VDM-based virtual impedance control can achieve the same effect as the conventional admittance control; its intermediate output of force/torque serves as the input for the external loop reference impedance control. Therefore, this cascaded controller shows superior performance by combining the advantages of admittance control and impedance control. We evaluate the controller in multiple-contact experiments on a six-degrees of freedom (6-DOF) industrial robot manipulator. The result shows that under various contact situations such as soft and rigid surfaces and free space, the proposed method can rapidly track the target and effectively maintain stability. In the experiments conducted on the robot in contact with various environments, the proposed control method reduced the steady-state error by more than 20% compared with the conventional admittance control.

Performance Improvement of Industrial Robot Trajectory Tracking Using Adaptive-Learning Scheme

1999 ◽  
Vol 121 (2) ◽  
pp. 285-292 ◽  
Author(s):  
Dong Sun ◽  
James K. Mills
Keyword(s):  
Adaptive Control ◽  
Adaptive Learning ◽  
Control Method ◽  
Robot Manipulator ◽  
Industrial Robot ◽  
Learning Ability ◽  
Operational Mode ◽  
Robot Trajectory ◽  
Adaptation Law ◽  
Operational Modes

More and more industrial robot operations demand high-accuracy trajectory performance which may not be achievable by using conventional PID control. This paper describes a new adaptive control method with a learning ability in the repetitive tasks, called the Adaptive-Learning (A-L) scheme. The method is based on the proposed theory of two operational modes: the single operational mode and the repetitive operational mode. In the single operational mode, the control is an adaptive control with a new parameter adaptation law using information from the previous trials. In the repetitive operational mode, the control is a model-based iterative learning control. The advantage of the A-L scheme lies in the ability to guarantee convergence in both modes. Theoretical analysis and experimental evaluation on a commercial robot demonstrate the effectiveness of the A-L scheme in controlling an industrial robot manipulator.

Tracking Control of Robot Manipulator Based on Robust Neural Network Control

2011 ◽  
Vol 308-310 ◽  
pp. 1238-1241
Author(s):  
San Xiu Wang ◽  
Guang Ying Yang
Keyword(s):  
Neural Network ◽  
Upper Bound ◽  
Tracking Control ◽  
Robot Manipulator ◽  
Network Control ◽  
Neural Network Control ◽  
Robust Controller ◽  
Control Scheme

This paper presents a robust neural network control scheme for robot manipulator. The robust controller is employed to eliminate the effect of the uncertainties, and a neural network is utilized to learn the unknown uncertain upper bound, which improves the performance. The experiments have been implemented and demonstrate the validation of the proposed method.

scholarly journals Delay-Dependent Robust Stabilization for Nonlinear Large Systems via Decentralized Fuzzy Control

2011 ◽  
Vol 2011 ◽  
pp. 1-20 ◽  
Author(s):  
Chun-xia Dou ◽  
Zhi-sheng Duan ◽  
Xing-bei Jia ◽  
Xiao-gang Li ◽  
Jin-zhao Yang ◽  
...  
Keyword(s):  
Time Delay ◽  
Fuzzy Control ◽  
Upper Bound ◽  
Time Delays ◽  
Sufficient Conditions ◽  
Large System ◽  
Disturbance Attenuation ◽  
Robust Controller ◽  
Large Systems ◽  
Delay Dependent

A delay-dependent robust fuzzy control approach is developed for a class of nonlinear uncertain interconnected time delay large systems in this paper. First, an equivalent T–S fuzzy model is extended in order to accurately represent nonlinear dynamics of the large system. Then, a decentralized state feedback robust controller is proposed to guarantee system stabilization with a prescribedH∞disturbance attenuation level. Furthermore, taking into account the time delays in large system, based on a less conservative delay-dependent Lyapunov function approach combining with linear matrix inequalities (LMI) technique, some sufficient conditions for the existence ofH∞robust controller are presented in terms of LMI dependent on the upper bound of time delays. The upper bound of time-delay and minimizedH∞performance index can be obtained by using convex optimization such that the system can be stabilized and for all time delays whose sizes are not larger than the bound. Finally, the effectiveness of the proposed controller is demonstrated through simulation example.

scholarly journals Virtual straightening of scraper conveyor based on the position and attitude solution of industrial robot model

2021 ◽  
Author(s):  
Suhua Li ◽  
Jiacheng Xie ◽  
Fang Ren ◽  
Xin Zhang ◽  
Xuewen Wang ◽  
...  
Keyword(s):  
Coal Seam ◽  
Industrial Robot ◽  
Steering Committee ◽  
High Accuracy ◽  
Simulation System ◽  
Direct Proportion ◽  
Hydraulic Support ◽  
Actual Distance ◽  
Scraper Conveyor ◽  
Comparison And Analysis

AbstractThe movement of the floating connecting mechanism between a hydraulic support and scraper conveyor is space movement; thus, when the hydraulic support pushes the scraper conveyor, there is an error between the actual distance of the scraper conveyor and the theoretical moving distance. As a result, the scraper conveyor cannot obtain the straightness requirement. Therefore, the movement law of the floating connecting mechanism between the hydraulic support and scraper conveyor is analyzed and programmed into the Unity3D to realize accurate pushing of the scraper conveyor via hydraulic support. The Coal Seam + Equipment Joint Virtual Straightening System is established, and a straightening method based on the motion law of a floating connection is proposed as the default method of the system. In addition, a straightening simulation of the scraper conveyor was performed on a complex coal seam floor, the results demonstrate that the average straightening error of the scraper conveyor is within 2–8 mm, and is in direct proportion to the fluctuation of the coal seam floor in the strike of the seam with high accuracy, the straightness of scraper conveyor is more affected by the subsidence terrain during straightening than by the bulge terrain. And some conclusions are verified by experiment. Based on the verification of the relevant conclusions, a comparison and analysis of Longwall Automation Steering Committee (LASC) straightening technology and default straightening method in the simulation system shows that the straightness accuracy of LASC straightening technology under complex floor conditions is slightly less than that of the default straightening method in the proposed system.

Design of Robust Controller for 2-DOF Flexible Link Robot Manipulator

2021 ◽  
Author(s):  
Renukadas Pimpalgaonkar ◽  
Prathamesh Khare ◽  
Anagha Chikhalthankar ◽  
Sandeep Hanwate ◽  
M. D. Jaybhaye
Keyword(s):  
Robot Manipulator ◽  
Flexible Link ◽  
Robust Controller
Sign in / Sign up

Export Citation Format

Share Document