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

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

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

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.

scholarly journals Compliant Human–Robot Collaboration with Accurate Path-Tracking Ability for a Robot Manipulator

2021 ◽  
Vol 11 (13) ◽  
pp. 5914
Author(s):  
Daniel Reyes-Uquillas ◽  
Tesheng Hsiao
Keyword(s):  
Sliding Mode ◽  
Robot Manipulator ◽  
Industrial Robot ◽  
Path Following ◽  
Path Tracking ◽  
Control Loop ◽  
Loop Control ◽  
Tracking Ability ◽  
The Difference ◽  
Human Robot Collaboration

In this article, we aim to achieve manual guidance of a robot manipulator to perform tasks that require strict path following and would benefit from collaboration with a human to guide the motion. The robot can be used as a tool to increase the accuracy of a human operator while remaining compliant with the human instructions. We propose a dual-loop control structure where the outer admittance control loop allows the robot to be compliant along a path considering the projection of the external force to the tangential-normal-binormal (TNB) frame associated with the path. The inner motion control loop is designed based on a modified sliding mode control (SMC) law. We evaluate the system behavior to forces applied from different directions to the end-effector of a 6-DOF industrial robot in a linear motion test. Next, a second test using a 3D path as a tracking task is conducted, where we specify three interaction types: free motion (FM), force-applied motion (FAM), and combined motion with virtual forces (CVF). Results show that the difference of root mean square error (RMSE) among the cases is less than 0.1 mm, which proves the feasibility of applying this method for various path-tracking applications in compliant human–robot collaboration.

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.

Development of the Industrial Robot Electric Drive Model

2021 ◽  
Vol 64 (6) ◽  
pp. 52-57
Author(s):  
Konstantin Litsin ◽  
◽  
Sergei Baskov ◽  
Yaroslav Makarov ◽  
◽  
...  
Keyword(s):  
Electric Drive ◽  
Robot Manipulator ◽  
Block Diagram ◽  
Industrial Robot ◽  
Permanent Magnet Synchronous Motor ◽  
Industrial Robots ◽  
Full Turn ◽  
Position Controller ◽  
Power Part ◽  
The Cost

Currently, the penetration of industrial robots into all sectors of the economy is increasing. However, there is an acute problem of conducting preliminary tests. The use of the digital twin as a replacement for the industrial robot is driven by high economic costs. In order to reduce the cost of the project, a solution is proposed to conduct preliminary tests on the developed model. The article developed a mathematical model of one of the drives of the industrial robot manipulator Yaskawa Motoman MH50-35. The model is suitable for researching the movement of the robot' tool. A mathematical description of a permanent magnet synchronous motor SGMJV-09A in a rotating coordinate system is given and a block diagram of the power part of the drive is made. A system for regulating the position of the robot's tool with a nonlinear position controller has been synthesized. Based on the results of modeling the operation of an electric drive in the Matlab Simulink environment, the degree of correspondence of the developed model to a real object was assessed and conclusions were drawn about the limits of its applicability for studying the operation of an electric drive of a robotic arm. The accuracy of working out the task for turning the wrist is 0.0001 rad, there is no overshoot in position, and the time for completing a full turn of the tool is 1.07 s.

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