scholarly journals Design of Adaptive Switching Controller for Robotic Manipulators with Disturbance

2016 ◽  
Vol 2016 ◽  
pp. 1-9
Author(s):  
Zhen Yang ◽  
Shumin Fei ◽  
Fang Wang ◽  
Jiaguo Lv ◽  
Xishang Dong
Keyword(s):  
Robot Manipulator ◽  
Control Strategies ◽  
Robotic Manipulators ◽  
Robotic Manipulator ◽  
Switching Law ◽  
Control Schemes ◽  
Switching Controller ◽  
Adaptive Switching Control ◽  
Bounded Disturbance ◽  
Input Torque

Two adaptive switching control strategies are proposed for the trajectory tracking problem of robotic manipulator in this paper. The first scheme is designed for the supremum of the bounded disturbance for robot manipulator being known; while the supremum is not known, the second scheme is proposed. Each proposed scheme consists of an adaptive switching law and a PD controller. Based on the Lyapunov stability theorem, it is shown that two new schemes can guarantee tracking performance of the robotic manipulator and be adapted to the alternating unknown loads. Simulations for two-link robotic manipulator are carried out and show that the two schemes can avoid the overlarge input torque, and the feasibility and validity of the proposed control schemes are proved.

scholarly journals Robust Tracking Control for Switched Fuzzy Systems with Fast Switching Controller

2012 ◽  
Vol 2012 ◽  
pp. 1-21 ◽  
Author(s):  
Hong Yang ◽  
Le Zhang ◽  
Xiaodong Liu
Keyword(s):  
Hybrid Control ◽  
Convex Combination ◽  
Good Control ◽  
Smooth Transition ◽  
Robust Tracking ◽  
Robust Tracking Control ◽  
Switching Law ◽  
Fast Switching ◽  
Control Schemes ◽  
Switching Controller

This paper addresses the problem of designing robust tracking controls for a class of switched fuzzy (SF) systems with time delay. A switched fuzzy system, which differs from existing ones, is firstly employed to describe a nonlinear system. Next, a fast switching controller consisting of a number of simple subcontrollers is proposed. The smooth transition is governed by using the fast switching controller. Tracking hybrid control schemes which are based upon a combination of theH∞tracking theory, fast switching control algorithm, and switching law design are developed such that theH∞model referent tracking performance is guaranteed. Since convex combination techniques are used to derive the delay independent criteria, some subsystems are allowed to be unstable. Finally, various comparisons of the elaborated examples are conducted to demonstrate the effectiveness of the proposed control design approach. All results illustrate good control performances as desired.

A Survey on Brachiation Robots: An Energy-Based Review

Robotica ◽  
2021 ◽  
pp. 1-13
Author(s):  
Sibyla Andreuchetti ◽  
Vinícius M. Oliveira ◽  
Toshio Fukuda
Keyword(s):  
Special Class ◽  
Control Strategies ◽  
Underactuated Systems ◽  
Decision Variable ◽  
Robot Dynamics ◽  
Technical Literature ◽  
Control Schemes

SUMMARY Many different control schemes have been proposed in the technical literature to control the special class of underactuated systems, the- so-called brachiation robots. However, most of these schemes are limited with regard to the method by which the robot executes the brachiation movement. Moreover, many of these control strategies do not take into account the energy of the system as a decision variable. To observe the behavior of the system’s, energy is very important for a better understanding of the robot dynamics while performing the motion. This paper discusses a variety of energy-based strategies to better understand how the system’s energy may influence the type of motion (under-swing or overhand) the robot should perform.

New repetitive motion planning scheme with cube end-effector planning precision for redundant robotic manipulators

Robotica ◽  
2021 ◽  
pp. 1-22
Author(s):  
Limin Shen ◽  
Yuanmei Wen
Keyword(s):  
Theoretical Analysis ◽  
Motion Planning ◽  
Robotic Manipulators ◽  
Robotic Manipulator ◽  
Repetitive Motion ◽  
End Effector ◽  
Difference Formula ◽  
Planning Scheme ◽  
Simulation Results ◽  
The Difference

Abstract Repetitive motion planning (RMP) is important in operating redundant robotic manipulators. In this paper, a new RMP scheme that is based on the pseudoinverse formulation is proposed for redundant robotic manipulators. Such a scheme is derived from the discretization of an existing RMP scheme by utilizing the difference formula. Then, theoretical analysis and results are presented to show the characteristic of the proposed RMP scheme. That is, this scheme possesses the characteristic of cube pattern in the end-effector planning precision. The proposed RMP scheme is further extended and studied for redundant robotic manipulators under joint constraint. Based on a four-link robotic manipulator, simulation results substantiate the effectiveness and superiority of the proposed RMP scheme and its extended one.

scholarly journals Position Domain Synchronization Control For Robotic Manipulators

2021 ◽  
Author(s):  
Vangjel Pano
Keyword(s):  
Time Domain ◽  
Robotic Manipulators ◽  
Synchronization Control ◽  
Control Law ◽  
Control Input ◽  
Contour Tracking ◽  
Hybrid Controller ◽  
Reference Motion ◽  
Control Scheme ◽  
Control Schemes

Developed in this thesis is a new control law focusing on the improvement of contour tracking of robotic manipulators. The new control scheme is a hybrid controller based on position domain control (PDC) and position synchronization control (PSC). On PDC, the system’s dynamics are transformed from time domain to position domain via a one-to-one mapping and the position of the master axis motion is used as reference instead of time. The elimination of the reference motion from the control input improves contouring performance relative to time domain controllers. Conversely, PSC seeks to reduce the error of the systems by diminishing the synchronization error between each agent of the system. The new control law utilizes the aforementioned techniques to maximize the contour performance. The Lyapunov method was used to prove the proposed controller’s stability. The new control law was compared to existing control schemes via simulations of linear and nonlinear contours, and was shown to provide good tracking and contouring performances.

Optimization in the Design and Control of Robotic Manipulators: A Survey

1989 ◽  
Vol 42 (4) ◽  
pp. 117-128 ◽  
Author(s):  
S. S. Rao ◽  
P. K. Bhatti
Keyword(s):  
Optimal Control ◽  
Robot Manipulator ◽  
Research Effort ◽  
Industrial Robot ◽  
Load Capacity ◽  
Robotic Manipulators ◽  
Optimization Techniques ◽  
Highly Nonlinear ◽  
Manipulator Design ◽  
And Control

Robotics is a relatively new and evolving technology being applied to manufacturing automation and is fast replacing the special-purpose machines or hard automation as it is often called. Demands for higher productivity, better and uniform quality products, and better working environments are primary reasons for its development. An industrial robot is a multifunctional and computer-controlled mechanical manipulator exhibiting a complex and highly nonlinear behavior. Even though most current robots have anthropomorphic configurations, they have far inferior manipulating abilities compared to humans. A great deal of research effort is presently being directed toward improving their overall performance by using optimal mechanical structures and control strategies. The optimal design of robot manipulators can include kinematic performance characteristics such as workspace, accuracy, repeatability, and redundancy. The static load capacity as well as dynamic criteria such as generalized inertia ellipsoid, dynamic manipulability, and vibratory response have also been considered in the design stages. The optimal control problems typically involve trajectory planning, time-optimal control, energy-optimal control, and mixed-optimal control. The constraints in a robot manipulator design problem usually involve link stresses, actuator torques, elastic deformation of links, and collision avoidance. This paper presents a review of the literature on the issues of optimum design and control of robotic manipulators and also the various optimization techniques currently available for application to robotics.

Practical Fixed-Time Event-Triggered Time-Varying Formation Tracking Control for Disturbed Multi-Agent Systems with Continuous Communication Free

2020 ◽  
Vol 09 (01) ◽  
pp. 23-34
Author(s):  
Xiaofeng Chai ◽  
Jian Liu ◽  
Yao Yu ◽  
Jianxiang Xi ◽  
Changyin Sun
Keyword(s):  
Control Strategies ◽  
Fixed Time ◽  
Settling Time ◽  
Time Varying ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Formation Tracking ◽  
Control Schemes ◽  
Multi Agent ◽  
Event Triggered

In this paper, we study the practical fixed-time event-triggered time-varying formation tracking problem of leader-follower multi-agent systems with multi-dimensional dynamics. Fixed-time event-triggered control schemes with continuous communication and intermittent communication are developed, respectively. Continuous communication and measurement are avoided, and computation cost is reduced greatly in the latter scheme. And the settling time is to be specified regardless of initial states of agents. Meanwhile, tracking errors are adjustable as desired with expected settling time. It is demonstrated that time-varying formation tracking can be achieved under the two proposed control schemes and Zeno behavior can be excluded. Finally, numerical examples are provided to illustrate the effectiveness of the proposed control strategies.

First Test Results of a Haptic Tele-Operation System to Enhance Stability of Telescopic Handlers

2010 ◽  
Author(s):  
Stefano Cenci ◽  
Giulio Rosati ◽  
Damiano Zanotto ◽  
Fabio Oscari ◽  
Aldo Rossi
Keyword(s):  
Degrees Of Freedom ◽  
Force Feedback ◽  
Control Strategies ◽  
Input Device ◽  
Test Results ◽  
Operation System ◽  
Work Related ◽  
Control Schemes ◽  
Working Capability ◽  
Stiff Joint

According to a recent report of ILO (International Labour Organization), more than two million people die or loose the working capability every year because of accidents or work-related diseases. A large portion of these accidents are related to the execution of motion and transportation tasks involving heavy duty machines. The insufficient degree of interaction between the human operator and the machine may be regarded as one of the major causes of this phenomenon. The main goal of the tele-operation system presented in this paper is to both preserving slave (machine) stability, by reducing the inputs of slave actuators when certain unsafe working conditions occur, and improving the level of interaction at master (operator) side. Different control schemes are proposed in the paper, including several combinations of master and slave control strategies. The effectiveness of the algorithms is analyzed by presenting some experimental results, based on the use of a two degrees-of-freedom force feedback input device (with one active actuator and one passive stiff joint) coupled with a simulator of a telescopic handler.

An adaptive H∞ control for robotic manipulator with compensation of input torque uncertainty

2008 ◽  
Vol 41 (2) ◽  
pp. 8919-8924 ◽  
Author(s):  
Kazuya Sato ◽  
Hiroshi Mukai ◽  
Kazuhiro Tsuruta
Keyword(s):  
Robotic Manipulator ◽  
Input Torque
Sign in / Sign up

Export Citation Format

Share Document