Position Control of 3-DOF Articulated Robot Arm using PID Controller

We examined a design approach for a PID controller for a nonlinear ball and beam system. Main objective of our research was to establish a nonmodel based control system, which would also not be dependent on a specific ball and beam hardware setup. The proposed PID controller setup is based on a cascaded configuration of an inner PID ball velocity control loop and an outer proportional ball position control loop. The effectiveness of the proposed controller setup was first presented in simulation environment in comparison to a hardware dependent PD cascaded controller, along with a more comprehensive study on possible design approach for optimal PID controller parameters in relation to main functionality of the controller setup. Experimental real time control results were then obtained on a laboratory setup of the ball and beam system on which PD cascaded controller could not be applied without parallel system model processing.

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Real-time Evaluation of an Interval Type-2 Fuzzy PID Controller on Servo Position Control System

2018 Fifth International Conference on Emerging Applications of Information Technology (EAIT) ◽

10.1109/eait.2018.8470410 ◽

2018 ◽

Cited By ~ 4

Author(s):

Ritu Rani De Maity ◽

Rajani K. Mudi ◽

Chanchal Dey

Keyword(s):

Control System ◽

Real Time ◽

Pid Controller ◽

Position Control ◽

Fuzzy Pid ◽

Fuzzy Pid Controller ◽

Interval Type ◽

Time Evaluation ◽

Position Control System

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Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme

The Scientific World JOURNAL ◽

10.1155/2013/590708 ◽

2013 ◽

Vol 2013 ◽

pp. 1-16 ◽

Cited By ~ 7

Author(s):

Ji Min Lee ◽

Sung Hwan Park ◽

Jong Shik Kim

Keyword(s):

Control Systems ◽

Pid Controller ◽

Position Control ◽

Sliding Mode ◽

System Modeling ◽

Modeling Error ◽

Load Disturbance ◽

Control Scheme ◽

Position Controller ◽

System Uncertainties

A robust control scheme is proposed for the position control of the electrohydrostatic actuator (EHA) when considering hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities. To reduce overshoot due to a saturation of electric motor and to realize robustness against load disturbance and lumped system uncertainties such as varying parameters and modeling error, this paper proposes an adaptive antiwindup PID sliding mode scheme as a robust position controller for the EHA system. An optimal PID controller and an optimal anti-windup PID controller are also designed to compare control performance. An EHA prototype is developed, carrying out system modeling and parameter identification in designing the position controller. The simply identified linear model serves as the basis for the design of the position controllers, while the robustness of the control systems is compared by experiments. The adaptive anti-windup PID sliding mode controller has been found to have the desired performance and become robust against hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities.

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Novel Design and Position Control Strategy of a Soft Robot Arm

Robotics ◽

10.3390/robotics7040072 ◽

2018 ◽

Vol 7 (4) ◽

pp. 72 ◽

Cited By ~ 3

Author(s):

Alaa Al-Ibadi ◽

Samia Nefti-Meziani ◽

Steve Davis ◽

Theo Theodoridis

Keyword(s):

Position Control ◽

Control Strategies ◽

Tensile Force ◽

Compressive Force ◽

Soft Robot ◽

Robot Arm ◽

Bending Actuator ◽

Muscle Actuators ◽

Novel Design ◽

Bending Behaviour

This article presents a novel design of a continuum arm, which has the ability to extend and bend efficiently. Numerous designs and experiments have been done to different dimensions on both types of McKibben pneumatic muscle actuators (PMA) in order to study their performances. The contraction and extension behaviour have been illustrated with single contractor actuators and single extensor actuators, respectively. The tensile force for the contractor actuator and the compressive force for the extensor PMA are thoroughly explained and compared. Furthermore, the bending behaviour has been explained for a single extensor PMA, multi extensor actuators and multi contractor actuators. A two-section continuum arm has been implemented from both types of actuators to achieve multiple operations. Then, a novel construction is proposed to achieve efficient bending behaviour of a single contraction PMA. This novel design of a bending-actuator has been used to modify the presented continuum arm. Two different position control strategies are presented, arising from the results of the modified soft robot arm experiment. A cascaded position control is applied to control the position of the end effector of the soft arm at no load by efficiently controlling the pressure of all the actuators in the continuum arm. A new algorithm is then proposed by distributing the x, y and z-axis to the actuators and applying an effective closed-loop position control to the proposed arm at different load conditions.

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An integrated system design interface for operating 8-DoF robotic arm

10.31224/osf.io/m7rtg ◽

2022 ◽

Author(s):

Madhav Rao

Keyword(s):

Upper Limb ◽

System Integration ◽

Integrated System ◽

Microsoft Kinect ◽

Robotic Arm ◽

Robot Arm ◽

Game Engine ◽

Kinematic Modeling ◽

Articulated Robot ◽

Integrated System Design

This study examines the system integration of a game engine with robotics middleware to drive an 8 degree offreedom (DoF) robotic upper limb to generate human-like motion for telerobotic applications. The developed architectureencompasses a pipeline execution design using Blender Game Engine (BGE) including the acquisition of real humanmovements via the Microsoft Kinect V2, interfaced with a modeled virtual arm, and replication of similar arm movements on the physical robotic arm. In particular, this study emphasizes the integration of a human “pilot” with ways to drive such a robotic arm through simulation and later, into a finished system. Additionally, using motion capture technology, a human upper limb action was recorded and applied onto the robot arm using the proposed architecture flow. Also, we showcase the robotic arm’s actions which include reaching, picking, holding, and dropping an object. This paper presentsa simple and intuitive kinematic modeling and 3D simulation process, which is validated using 8-DoF articulated robot to demonstrate methods for animation, and simulation using the designed interface.

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