scholarly journals Guidance and Control of a Planar Robot Manipulator Used in an Assembly Line

2021 ◽  
Author(s):  
Bülent Özkan
Keyword(s):  
Quality Control ◽  
Robot Manipulator ◽  
Operating Conditions ◽  
Integral Control ◽  
Guidance And Control ◽  
Guidance Law ◽  
Pick And Place ◽  
Place Task ◽  
Planar Robot ◽  
And Control

In order to achieve higher productivity and lower cost requirements, robot manipulators have been enrolled in assembling processes in last decades as well as other implementation areas such as transportation, welding, mounting, and quality control. As a new application of this field, the control of the synchronous movements of a planar robot manipulator and moving belt is dealt with in this study. Here, the mentioned synchronization is tried to be maintained in accordance with a guidance law which leads the robot manipulator to put selected components onto the specific slots on the moving belt without interrupting the assembling process. In this scheme, the control of the manipulator is carried out by considering the PI (proportional plus integral) control law. Having performed the relevant computer simulations based on the engagement geometry between the robot manipulator and moving belt, it is verified that the mentioned pick-and-place task can be successfully accomplished under different operating conditions.

Guidance and control of a planar robot manipulator used in an assembly line

2016 ◽  
Vol 40 (2) ◽  
pp. 389-399 ◽  
Author(s):  
Bülent Özkan
Keyword(s):  
Robot Manipulator ◽  
Robot Manipulators ◽  
Dynamic Modelling ◽  
Assembly Lines ◽  
Efficient Manner ◽  
Integral Control ◽  
Guidance And Control ◽  
Guidance Law ◽  
Increase Productivity ◽  
And Control

Robot manipulators have been successfully utilized in assembly lines within the last few decades. In order to increase productivity and diminish costs, they have been enrolled at several stages of automation, including transportation, welding, mounting and quality control processes of the components that are assembled to construct the entire system. In this study, an unusual method is proposed to make the robot manipulators and moving belts serve accordingly in an efficient manner. To this extent, the motion of a two-link robot manipulator is planned in a continuous fashion by the use of a proper guidance law compatible with the uninterrupted movement of the moving belt upon which the components are placed by means of the manipulator. For this purpose, a control system is built for the manipulator based on its dynamic modelling by regarding the PI (proportional plus integral) control law in accordance with the linear homing guidance law. Moreover, engagement geometry is constructed. Having performed computer simulations, it is observed that the tip point of the manipulator can catch the slot on the belt at speeds from 0.5 to 2.5 m/s for different initial positions and speeds of the tip point from 5.0×10−5 to 0.5 m/s.

Experimental Autonomous Deep Learning-Based 3D Path Planning for a 7-DOF Robot Manipulator

2019 ◽  
Author(s):  
Alex Bertino ◽  
Mostafa Bagheri ◽  
Miroslav Krstić ◽  
Peiman Naseradinmousavi
Keyword(s):  
Deep Learning ◽  
Stereo Vision ◽  
Robot Manipulator ◽  
Control Techniques ◽  
Minimal Error ◽  
Autonomous Operation ◽  
Pick And Place ◽  
Place Task ◽  
Position And Orientation ◽  
And Control

Abstract In this paper, we examine the autonomous operation of a high-DOF robot manipulator. We investigate a pick-and-place task where the position and orientation of an object, an obstacle, and a target pad are initially unknown and need to be autonomously determined. In order to complete this task, we employ a combination of computer vision, deep learning, and control techniques. First, we locate the center of each item in two captured images utilizing HSV-based scanning. Second, we utilize stereo vision techniques to determine the 3D position of each item. Third, we implement a Convolutional Neural Network in order to determine the orientation of the object. Finally, we use the calculated 3D positions of each item to establish an obstacle avoidance trajectory lifting the object over the obstacle and onto the target pad. Through the results of our research, we demonstrate that our combination of techniques has minimal error, is capable of running in real-time, and is able to reliably perform the task. Thus, we demonstrate that through the combination of specialized autonomous techniques, generalization to a complex autonomous task is possible.

Performance analysis of differential geometric guidance law against high-speed target with arbitrarily maneuvering acceleration

2018 ◽  
Vol 233 (10) ◽  
pp. 3547-3563 ◽  
Author(s):  
Ke-Bo Li ◽  
Wen-Shan Su ◽  
Lei Chen
Keyword(s):  
High Speed ◽  
Control System Design ◽  
Proportional Navigation ◽  
Full Account ◽  
Guidance And Control ◽  
Maneuvering Target ◽  
Guidance Law ◽  
Classical Differential Geometry ◽  
Relative Dynamics ◽  
And Control

The interception of high-speed target with an arbitrary maneuvering acceleration causes serious troubles to the guidance and control system design of airborne missile. A novel guidance law based on the classical differential geometry curve theory was proposed not long ago. Although it is believed and numerically demonstrated that this differential geometric guidance law (DGGL) is superior to the classical pure proportional navigation (PPN) in intercepting high-speed targets, its performance has not been thoroughly analyzed. In this paper, using the Lyapunov-like approach, the performance of DGGL against the high-speed target with an arbitrary but upper-bounded maneuvering acceleration is well studied. The upper bounds of the LOS rate and commanded acceleration of DGGL are obtained, and conditions that guarantee the capture of this type of maneuvering target are also presented. The nonlinear relative dynamics between the missile and target is taken into full account. Finally, the proposed theoretical findings are demonstrated by numerical simulation examples.

scholarly journals Guidance Law and Neural Control for Hypersonic Missile to Track Targets

2016 ◽  
Vol 2016 ◽  
pp. 1-10 ◽  
Author(s):  
Wenxing Fu ◽  
Binbin Yan ◽  
Xiaofei Chang ◽  
Jie Yan
Keyword(s):  
Neural Control ◽  
Controller Design ◽  
Sliding Mode ◽  
External Disturbance ◽  
Control Laws ◽  
Guidance And Control ◽  
Maneuvering Target ◽  
Guidance Law ◽  
Control Command ◽  
And Control

Hypersonic technology plays an important role in prompt global strike. Because the flight dynamics of a hypersonic vehicle is nonlinear, uncertain, and highly coupled, the controller design is challenging, especially to design its guidance and control law during the attack of a maneuvering target. In this paper, the sliding mode control (SMC) method is used to develop the guidance law from which the desired flight path angle is derived. With the desired information as control command, the adaptive neural control in discrete time is investigated ingeniously for the longitudinal dynamics of the hypersonic missile. The proposed guidance and control laws are validated by simulation of a hypersonic missile against a maneuvering target. It is demonstrated that the scheme has good robustness and high accuracy to attack a maneuvering target in the presence of external disturbance and missile model uncertainty.

A Review of Guidance Laws Applicable to Unmanned Underwater Vehicles

2003 ◽  
Vol 56 (1) ◽  
pp. 15-29 ◽  
Author(s):  
W. Naeem ◽  
R. Sutton ◽  
S. M. Ahmad ◽  
R. S. Burns
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Guidance System ◽  
Unmanned Underwater Vehicles ◽  
Guidance And Control ◽  
Autonomous Operation ◽  
Guidance Law ◽  
Guidance Strategies ◽  
And Control ◽  
Guidance Laws

The main problem in bringing autonomy to any vehicle lies in the design of a suitable guidance law. For truly autonomous operation, the vehicle needs to have a reliable Navigation, Guidance and Control (NGC) system of which the guidance system is the key element that generates suitable trajectories to be followed. In this review paper, various guidance laws found in the literature and their relevance to autonomous underwater vehicles (AUVs) are discussed. Since existing guidance laws for underwater vehicles have emulated from tactical airborne missile systems, a number of approaches for the missile guidance systems are considered. Finally, potential guidance strategies for AUVs are proposed.

Suboptimal Guidance and Control Design for a Missile with Onboard Strapdown Seeker

2011 ◽  
Vol 110-116 ◽  
pp. 2513-2520
Author(s):  
Netra Singh ◽  
Manoranjan Sinha
Keyword(s):  
Coupling Effect ◽  
Three Dimensional ◽  
Impact Angle ◽  
Terminal Phase ◽  
Dynamic Inversion ◽  
Control Laws ◽  
Guidance And Control ◽  
Guidance Law ◽  
Hamilton Jacobi Bellman ◽  
And Control

Dynamic inversion control in conjunction with nonlinear suboptimal three dimensional (3-D) guidance law, in terminal phase, is implemented in both the pitch and yaw plane for a short range surface to surface missile with onboard active strapdown seeker. The implemented guidance and control laws intercept the target with a minimum miss distance in addition to meeting the various constraints such as line of sight, seeker field-of-view (FOV), and impact angle. This is achieved using approximate solution to Hamilton-Jacobi-Bellman (HJB) equation [1]. Dynamic inversion control is implemented in two time scales for the inner loop body rate and outer loop angles. Various nonlinearities including that due to the coupling effect between pitch and yaw channels are accounted for in the six-degree-of-freedom (6-DOF) formulation.

Three-dimensional guidance and control for ground moving target tracking by a quadrotor

2021 ◽  
pp. 1-28
Author(s):  
M. Sepehri Movafegh ◽  
S.M.M. Dehghan ◽  
R. Zardashti
Keyword(s):  
Three Dimensional ◽  
Aerial Image ◽  
Target Velocity ◽  
Estimation Errors ◽  
Guidance And Control ◽  
Position Errors ◽  
Guidance Law ◽  
Target Localisation ◽  
Critical Regions ◽  
And Control

Abstract This paper develops a three-dimensional guidance and control algorithm to ensure that a manoeuverable target is preserved by a quadrotor in a long-term tracking scenario. The proposed guidance approach determines the desired altitude of the quadrotor to adjust the field of view (FOV) to the union of two desired trusted and critical regions. The dimensions of the desired trusted region depend on the controller performance that is evaluated by the distance of the target from the center of the FOV. The critical region is a predefined margin around the trusted region that is defined by the operator based on the upper bounds of the quadrotor and target localisation errors. It also depends on the duration and magnitude of the temporal increase in the target velocity compared to the quadrotor velocity. A sufficient condition is provided for the minimum desired altitude of the quadrotor to ensure that the target is maintained in the FOV. Furthermore, a model predictive control (MPC) is employed to preserve the target at the center of the aerial image and the desired altitude determined by the guidance law. Also, the integrals of the position errors are used to achieve null steady-state errors in the presence of wind disturbances. The simulation results show the effectiveness of the proposed approach in preserving the manoeuverable target in the FOV in the presence of the wind, the uncertainty of the target and quadrotor localisation, accelerations estimation errors, and terrain altitude variation.

Cross Track Error and Proportional Turning Rate Guidance of Marine Vehicles

1994 ◽  
Vol 38 (02) ◽  
pp. 123-132
Author(s):  
Fotis A. Papoulias
Keyword(s):  
Design Parameters ◽  
System Response ◽  
Track Error ◽  
Guidance And Control ◽  
Marine Vehicles ◽  
Guidance Law ◽  
Linearized Stability ◽  
And Control ◽  
Cross Track ◽  
Final System

The problem of turning rate guidance and control of marine vehicles is considered. Feedback with feed forward rudder control is used to deliver a specified turning rate for the vehicle, while a guidance law is employed to create the necessary sequence of turning rate commands which would allow convergence to a desired geographical path. Two different guidance schemes are presented and analyzed, namely, cross track error and proportional turning rate guidance. Stability conditions are computed explicitly, while nonlinear analysis techniques illustrate the significance of design parameters on the final system response that cannot be inferred from linearized stability results.

Research of Integrated Design about Guidance and Control of Homing UAV

2013 ◽  
Vol 373-375 ◽  
pp. 1428-1431 ◽  
Author(s):  
Jian Cao ◽  
Cong Yan ◽  
Li Liu
Keyword(s):  
Integrated Design ◽  
Control Model ◽  
Nonlinear Observer ◽  
Guidance And Control ◽  
Guidance Law ◽  
Aerial Vehicle ◽  
Integrated Guidance And Control ◽  
The One ◽  
And Control ◽  
Better Than

Integrated design about guidance and control of homing unmanned aerial vehicle (UAV) is proposed. Firstly, an integrated guidance and control model with uncertainties can be described. Secondly, a nonlinear observer is designed for the integrated guidance and control model. Finally, the simulation results show that the nonlinear adaptive guidance law using the proposed integrated design model can perform better than the one designed separately.

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