Design of an Error-Based Adaptive Controller for a Flexible Robot Arm Using Dynamic Pole Motion Approach

Journal of Robotics ◽

10.1155/2011/726807 ◽

2011 ◽

Vol 2011 ◽

pp. 1-9 ◽

Cited By ~ 2

Author(s):

Ki-Young Song ◽

Madan M. Gupta ◽

Noriyasu Homma

Keyword(s):

Adaptive Controller ◽

Fast Response ◽

System Response ◽

Robot Arm ◽

Flexible Robot ◽

Nonlinear Controller ◽

Velocity Feedback ◽

System Error ◽

Pole Motion ◽

Position Feedback

Design of an adaptive controller for complex dynamic systems is a big challenge faced by the researchers. In this paper, we introduce a novel concept ofdynamic pole motion(DPM) for the design of an error-based adaptive controller (E-BAC). The purpose of this novel design approach is to make the system response reasonably fast with no overshoot, where the system may be time varying and nonlinear with only partially known dynamics. The E-BAC is implanted in a system as a nonlinear controller with two dominant dynamic parameters: the dynamic position feedback and the dynamic velocity feedback. For illustrating the strength of this new approach, in this paper we give an example of a flexible robot with nonlinear dynamics. In the design of this feedback adaptive controller, parameters of the controller are designed as a function of the system error. The position feedbackKp(e,t)and the velocity feedbackKv(e,t)are continuously varying and formulated as a function of the system errore(t). This approach for formulating the adaptive controller yields a very fast response with no overshoot.

Download Full-text

Tip Position Control of a Flexible Robot Arm Considering the Reduction Gear's Friction

Journal of Robotics and Mechatronics ◽

10.20965/jrm.1990.p0091 ◽

1990 ◽

Vol 2 (2) ◽

pp. 91-96

Author(s):

Yasuo Yoshida ◽

◽

Masato Tanaka

Keyword(s):

Feedback Control ◽

Dynamic Characteristics ◽

Position Control ◽

Viscous Friction ◽

Open Loop ◽

Robot Arm ◽

Flexible Robot ◽

Position Feedback ◽

Linear Friction ◽

Tip Position

The reduction gear's friction strongly affects the dynamic characteristics of a one-link flexible robot arm. Experiments of open loop response by motor torque were performed in two cases of large and small values of the reduction gear's friction, and compared with simulation. The reduction gear's friction has both viscous and Coulomb aspects and can be approximately treated as an equivalent viscous friction. However, tip position control was very difficult in the case of large friction with an equivalent viscous friction. Experiments indicated that tip position feedback control was possible by using a dither signal and linearizing the non-linear friction.

Download Full-text

Discrete-Time Tip Position Control of a Flexible One Arm Robot

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.2897365 ◽

1992 ◽

Vol 114 (3) ◽

pp. 428-435 ◽

Cited By ~ 9

Author(s):

Sabri Cetinkunt ◽

Sijun Wu

Keyword(s):

Control Algorithm ◽

Position Control ◽

System Response ◽

Model Parameters ◽

Robot Arm ◽

Flexible Robot ◽

Filter Parameter ◽

Actuator Dynamics ◽

Lattice Filter ◽

Tip Position

A predictive adaptive control algorithm is developed for tip position control based on the zero-order-hold equivalence of the nondimensionalized dynamic model of a flexible robot arm. A lattice filter is utilized for the purpose of parameter identification. The proposed control scheme provides an optimal output feedback control and, together with the lattice filter parameter identifier, it forms a special self-tuning regulator. It is then compared with other methods, such as linear quadratic Gaussian and stable factorization. A stability criterion for this control algorithm is also presented. The effects of the actuator dynamics on the overall system response and stability are investigated. Actuator dynamics model parameters are chosen from the actual specifications provided by manufacturers.

Download Full-text

Adaptive Output Regulation of a Flexible Arm

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.2801140 ◽

1996 ◽

Vol 118 (1) ◽

pp. 167-172 ◽

Cited By ~ 2

Author(s):

P. Lucibello ◽

F. Bellezza

Keyword(s):

Adaptive Controller ◽

Least Square ◽

Linear Feedback ◽

Robot Arm ◽

Flexible Robot ◽

End Point ◽

Flexible Arm ◽

Controller Performance ◽

Payload Mass ◽

Total Stability

A self-tuned version of a controller for asymptotic trajectory tracking of the end point of a two-link flexible robot arm is presented. The bounded solution to the inverse system, which is used in the control law, is tuned by the estimates of the unknown robot parameters, generated by a least square identification scheme. Soundness of the state of the adaptive controller is achieved by a stabilizing linear feedback from the output error, with fixed gains and robust with respect to variations of the parameters. This guarantees the total stability of the system, which is the main ingredient used in the proof of the controller properties, through a Lyapunov-like approach. The controller performance is finally illustrated by numerically simulating the tracking of an end point ramp under payload mass variations.

Download Full-text

Integration of model-based and sensor-based control for a two-link flexible robot arm

10.1109/icsyse.1990.203188 ◽

2002 ◽

Cited By ~ 4

Author(s):

J.T. Feddema ◽

G.R. Eisler ◽

D.J. Segalman

Keyword(s):

Robot Arm ◽

Flexible Robot ◽

Model Based

Download Full-text

Hybrid Neural-Fuzzy Controller for Motorized Robot Arm

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.403-408.5068 ◽

2011 ◽

Vol 403-408 ◽

pp. 5068-5075

Author(s):

Fatma Zada ◽

Shawket K. Guirguis ◽

Walied M. Sead

Keyword(s):

Fuzzy Logic ◽

Design Methodology ◽

Fuzzy Logic Controller ◽

Fuzzy Controller ◽

System Response ◽

Robot Arm ◽

Neural Controller ◽

Hybrid Controller ◽

Neural Fuzzy ◽

Transient And Steady State

In this study, a design methodology is introduced that blends the neural and fuzzy logic controllers in an intelligent way developing a new intelligent hybrid controller. In this design methodology, the fuzzy logic controller works in parallel with the neural controller and adjusting the output of the neural controller. The performance of our proposed controller is demonstrated on a motorized robot arm with disturbances. The simulation results shows that the new hybrid neural -fuzzy controller provides better system response in terms of transient and steady-state performance when compared to neural or fuzzy logic controller applications. The development and implementation of the proposed controller is done using the MATLAB/Simulink toolbox to illustrate the efficiency of the proposed method.

Download Full-text

Optimal control of a flexible robot arm

Computers & Structures ◽

10.1016/0045-7949(88)90398-7 ◽

1988 ◽

Vol 29 (3) ◽

pp. 459-467 ◽

Cited By ~ 16

Author(s):

James D. Lee ◽

Ben-Li Wang

Keyword(s):

Optimal Control ◽

Robot Arm ◽

Flexible Robot

Download Full-text

Design, Kinematics and Prototype of a Flexible Robot Arm With Planar Springs

Volume 5A: 39th Mechanisms and Robotics Conference ◽

10.1115/detc2015-46503 ◽

2015 ◽

Cited By ~ 2

Author(s):

Peng Qi ◽

Hongbin Liu ◽

Lakmal Seneviratne ◽

Kaspar Althoefer

Keyword(s):

Preliminary Test ◽

Industrial Applications ◽

Robot Arm ◽

Kinematic Modeling ◽

Flexible Robot ◽

Element Analysis ◽

Robot Arms ◽

Environmental Interactions ◽

In Series ◽

Fea Simulation

Flexible robot arms have been developed for various medical and industrial applications because of their compliant structures enabling safe environmental interactions. This paper introduces a novel flexible robot arm comprising a number of elastically deformable planar spring elements arranged in series. The effects of flexure design variations on their layer compliance properties are investigated. Numerical studies of the different layer configurations are presented and finite Element Analysis (FEA) simulation is conducted. Based on the suspended platform’s motion of each planar spring, this paper then provides a new method for kinematic modeling of the proposed robot arm. The approach is based on the concept of simultaneous rotation and the use of Rodrigues’ rotation formula and is applicable to a wide class of continuum-style robot arms. At last, the flexible robot arms respectively integrated with two different types of compliance layers are prototyped. Preliminary test results are reported.

Download Full-text