scholarly journals Position Control and Trajectory Tracking of the Stewart Platform

10.5772/35569 ◽  
2012 ◽  
Author(s):  
Seluk Kizir ◽  
Zafer Bingul
Keyword(s):  
Trajectory Tracking ◽  
Position Control ◽  
Stewart Platform

scholarly journals Design and development of a Stewart platform assisted and navigated transsphenoidal surgery

2019 ◽  
pp. 961-972 ◽  
Author(s):  
SELÇUK KİZİR ◽  
ZAFER BİNGÜL
Keyword(s):  
Trajectory Tracking ◽  
Transsphenoidal Surgery ◽  
Force Feedback ◽  
Position Control ◽  
Stewart Platform ◽  
Robotic System ◽  
Haptic Device ◽  
Head Model ◽  
Endoscopic Transsphenoidal Surgery ◽  
Model Free

In this study, technical details of a Stewart platform (SP) based robotic system as an endoscope positioner and holder for endoscopic transsphenoidal surgery are presented. Inverse and forward kinematics, full dynamics, and the Jacobian matrix of the robotic system are derived and simulated in MATLAB/Simulink. The required control structure for the trajectory and position control of the SP is developed and verified by several experiments. The robotic system can be navigated using a six degrees of freedom (DOF) joystick and a haptic device with force feedback. Position and trajectory control of the SP in the joint space is achieved using a new model-free intelligent PI (iPI) controller and it is compared with the classical PID (proportional-integral-derivative) controller. Trajectory tracking experimental results showed that the tracking performance of iPI is better than that of PID and the total RMSE of the trajectory tracking is decreased by 17.64% using the iPI controller. The validity of the robotic system is proven in the endoscopic transsphenoidal surgery performed on a realistic head model in the laboratory and on a cadaver in the Institute of Forensic Medicine. The key feature of the system developed here is to operate the endoscope via the joystick or haptic device with force feedback under iPI control. Usage of this system helps surgeons in long, fatiguing, and complex operations. This system can generate new possibilities for transsphenoidal surgery such as fully automated robotic surgery systems.

The Leveling Position Control of a Four-Axial Active Pneumatic Isolation System Using PWM-Driving Parallel Dual-On/Off Valves

2011 ◽  
Vol 110-116 ◽  
pp. 3176-3183 ◽  
Author(s):  
Mao Hsiung Chiang ◽  
Hao Ting Lin
Keyword(s):  
Trajectory Tracking ◽  
Vibration Isolation ◽  
Position Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Tracking Performance ◽  
Trajectory Tracking Control ◽  
Isolation System ◽  
Adaptive Sliding Mode Controller ◽  
Novel Concept

This study aims to develop a leveling position control of an active PWM-controlled pneumatic isolation table system. A novel concept using parallel dual-on/off valves with PWM control signals is implemented to realize active control and to improve the conventional pneumatic isolation table that supported by four pneumatic cushion isolators. In this study, the cushion isolators are not only passive vibration isolation devices, but also pneumatic actuators in active position control. Four independent closed-loop position feedback control system are designed and implemented for the four axial isolators. In this study, on/off valves are used, and PWM is realized by software. Therefore, additional hardware circuit is not required to implement PWM and not only cost down but also reach control precision of demand. In the controller design, the Fourier series-based adaptive sliding-mode controller with H∞ tracking performance is used to deal with the uncertainty and time-varying problems of pneumatic system. Finally, the experiments on the pneumatic isolation table system for synchronous position and trajectory tracking control, including no-load and loading conditions, and synchronous position control with master-slave method, are implemented in order to verify that the controller for each cushion isolator can realize good position and trajectory tracking performance.

scholarly journals Active Disturbance Rejection Based Robust Trajectory Tracking Controller Design in State Space

2019 ◽  
Vol 141 (6) ◽  
Author(s):  
Emre Sariyildiz ◽  
Rahim Mutlu ◽  
Chuanlin Zhang
Keyword(s):  
State Space ◽  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Position Control ◽  
Controller Design ◽  
Design Method ◽  
Control Input ◽  
Active Disturbance Rejection ◽  
Tracking Controller ◽  
Trajectory Tracking Controller

This paper proposes a new active disturbance rejection (ADR) based robust trajectory tracking controller design method in state space. It can compensate not only matched but also mismatched disturbances. Robust state and control input references are generated in terms of a fictitious design variable, namely differentially flat output, and the estimations of disturbances by using differential flatness (DF) and disturbance observer (DOb). Two different robust controller design techniques are proposed by using Brunovsky canonical form and polynomial matrix form approaches. The robust position control problem of a two mass-spring-damper system is studied to verify the proposed ADR controllers.

High order differential feedback controller design and implementation for a Stewart platform

2019 ◽  
Vol 26 (11-12) ◽  
pp. 976-988 ◽  
Author(s):  
Mustafa S Ayas ◽  
Erdinc Sahin ◽  
Ismail H Altas
Keyword(s):  
Trajectory Tracking ◽  
Absolute Error ◽  
Parallel Manipulators ◽  
Stewart Platform ◽  
High Order ◽  
Feedback Controller ◽  
Proportional Integral Derivative ◽  
Proportional Integral Derivative Controller ◽  
Proportional Integral ◽  
Reference Trajectories

Stewart platform or other parallel manipulators with a Stewart structure are commonly used in flight simulators, surgical operations, medical rehabilitation processes, machine tools, industrial applications, etc. Therefore, researchers have paid attention to position control of these manipulators in addition to their design and development process. In this study, a developed Stewart platform and its inverse kinematic analysis are presented first. Then, a model-free control scheme called a high order differential feedback controller scheme is designed for the Stewart platform in order to improve its trajectory tracking performance and robustness against to different reference trajectories. Real-time trajectory tracking experiments with varied reference trajectories are carried out to show the robustness and effectiveness of the high order differential feedback controller scheme compared to the traditional proportional–integral–derivative controller of which the parameters are optimally tuned. The obtained visual trajectory tracking results and numerical performance results based on error-based performance measurement metrics such as integral of absolute error, integral of squared error, and integral of time-weighted absolute error are provided for both the proposed high order differential feedback controller scheme and the optimal tuned proportional–integral–derivative controller. Experimental results show that the proposed high order differential feedback controller scheme is more robust than the proportional–integral–derivative controller. Furthermore, the high order differential feedback controller scheme has superiority in both transient and steady-state responses and even the parameters of the proportional–integral–derivative controller are optimally tuned.

scholarly journals PID-based with Odometry for Trajectory Tracking Control on Four-wheel Omnidirectional Covid-19 Aromatherapy Robot

2021 ◽  
Vol 5 ◽  
pp. 157-181
Author(s):  
. Iswanto ◽  
Alfian Ma’arif ◽  
Nia Maharani Raharja ◽  
Gatot Supangkat ◽  
Fitri Arofiati ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Position Control ◽  
Performance Criterion ◽  
Inhalation Therapy ◽  
Motor Speed ◽  
Trajectory Tracking Control ◽  
Ground Vehicle ◽  
Robot Trajectory ◽  
Heading Control

Inhalation therapy is one of the most popular treatments for many pulmonary conditions. The proposed Covid-19 aromatherapy robot is a type of Unmanned Ground Vehicle (UGV) mobile robot that delivers therapeutic vaporized essential oils or drugs needed to prevent or treat Covid-19 infections. It uses four omnidirectional wheels with a controlled speed to possibly move in all directions according to its trajectory. All motors for straight, left, or right directions need to be controlled, or the robot will be off-target. The paper presents omnidirectional four-wheeled robot trajectory tracking control based on PID and odometry. The odometry was used to obtain the robot's position and orientation, creating the global map. PID-based controls are used for three purposes: motor speed control, heading control, and position control. The omnidirectional robot had successfully controlled the movement of its four wheels at low speed on the trajectory tracking with a performance criterion value of 0.1 for the IAEH, 4.0 for MAEH, 0.01 for RMSEH, 0.00 for RMSEXY, and 0.06 for REBS. According to the experiment results, the robot's linear velocity error rate is 2%, with an average test value of 1.3 percent. The robot heading effective error value on all trajectories is 0.6%. The robot's direction can be monitored and be maintained at the planned trajectory. Doi: 10.28991/esj-2021-SPER-13 Full Text: PDF

scholarly journals Effect of Servo Valve Dynamic on Precise Position Control of a Pneumatic Servo Table

2008 ◽  
Vol 2 (1) ◽  
pp. 43-48 ◽  
Author(s):  
Toshinori Fujita ◽  
◽  
Kenji Kawashima ◽  
Takashi Miyajima ◽  
Taro Ogiso ◽  
...  
Keyword(s):  
Natural Frequency ◽  
Trajectory Tracking ◽  
Position Control ◽  
Tracking Error ◽  
Air Bearing ◽  
Precise Position ◽  
Servo Valve ◽  
Valve Dynamics ◽  
Feedforward Controller ◽  
Tracking Response

In experimentally investigating the effect of servo valve dynamics on control of a pneumatic servo table with an air bearing, we propose control using a PDD2 and a feedforward controller, then test step and trajectory tracking response with natural servo valve frequencies. We confirmed that pneumatic servo performance is affected by servo valve dynamics. We found that tracking error fell below +- 0.5 mm when the servo valve has a natural frequency of 300 Hz.

scholarly journals Robotic arm joint position control using iterative learning and mixed sensitivity H∞ robust controller

2021 ◽  
Vol 10 (4) ◽  
pp. 1864-1873
Author(s):  
Petrus Sutyasadi ◽  
Martinus Bagus Wicaksono
Keyword(s):  
Embedded System ◽  
Trajectory Tracking ◽  
Simple Structure ◽  
Position Control ◽  
Low Cost ◽  
Iterative Learning ◽  
Robotic Arm ◽  
Joint Position ◽  
Robust Controller ◽  
Sinusoidal Input

This paper proposes an improved control strategy of a robotic arm joint using hybrid controller consist of H∞ robust controller and iterative learning controller. The main advantage of this controller is the simple structure that made it possible to be implemented on a small embedded system for frugal innovation in industrial robotic arm development. Although it has a simple structure, it is a robust H∞ controller that has robust stability and robust performance. The iterative learning controller makes the trajectory tracking even better. To test the effectiveness of the proposed method, computer simulations using Matlab and hardware experiments were conducted. Variation of load was applied to both of the processes to present the uncertainties. The superiority of the proposed controller over the proportional integral derivative (PID) controller that usually being used in a low-cost robotic arm development is confirmed that it has better trajectory tracking. The error tracking along the slope of sinusoidal trajectory input was suppressed to zero. The biggest error along the trajectory that happened on every peak of the sinusoidal input, or when the direction is changed has been improved from 15 degrees to 4 degrees. This can be conceived that the proposed controller can be applied to control a low-cost robotic arm joint position which is applicable for small industries or educational purpose.

An anti-windup rate-varying integral control applied to electromechanical actuator

2014 ◽  
Vol 229 (4) ◽  
pp. 692-702
Author(s):  
Mohammad Reza Sabaapour ◽  
Esmaeel Khanmirza ◽  
Siamak Ghadami
Keyword(s):  
Steady State ◽  
Trajectory Tracking ◽  
Position Control ◽  
Nonlinear Modeling ◽  
External Disturbance ◽  
Error Signal ◽  
Integral Control ◽  
Electromechanical Actuator ◽  
Good Agreement ◽  
State Error

This paper introduces a novel integral-based controller to correct steady-state error as well as to improve trajectory tracking in position control of a rotary actuator. For this aim, linear and nonlinear modeling of a rotary electromechanical actuator via conventional P-D controller has been described followed by investigation of nonlinear element's effects. The model has very good agreement with experimental results. Then, for trajectory tracking improvement and especially to reduce steady-state error induced by external disturbance, different integral based controllers such as PID, PI-D, and I-PD have been considered. Moreover, the problem of integrator saturation (integral wind-up) has been solved by modified rate varying integral method. It has been showed that a PI-D controller with modified rate varying integral can best match controlling requirements, as well as having enough simplicity for analogue implementation. Also, as a new method, it was suggested that for rate-varying integral calculation, the error rate signal could be replaced by error signal. Doing so, not only former advantages were hold, but more simplicity in controller implementation was gained. Simulation results have shown the effectiveness of the proposed method.

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