Active Disturbance Rejection Control of Multi-Joint Industrial Robots Based on Dynamic Feedforward

Cheng, Xin; Tu, Xiaowei; Zhou, Yongqin; Zhou, Rougang

doi:10.3390/electronics8050591

Cited by 16 publications

(14 citation statements)

References 19 publications

(34 reference statements)

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“…At the same time, we will also make use of the existing sensor feedback of the robot, such as video images of the camera, to further design the closed-loop motion control algorithms to improve the robot's motion performance and adaptability to the environment. Moreover, to improve the robustness of the gait motion, the feedforward control schemes could also be added [37], and some artificial intelligence approaches can be adopted to achieve the feedforward control methods [38]. We will then conduct more experiments to verify them.…”

Section: Discussionmentioning

confidence: 99%

Straight Gait Research of a Small Electric Hexapod Robot

et al. 2021

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Gait is an important research content of hexapod robots. To better improve the motion performance of hexapod robots, many researchers have adopted some high-cost sensors or complex gait control algorithms. This paper studies the straight gait of a small electric hexapod robot with a low cost, which can be used in daily life. The strategy of “increasing duty factor” is put forward in the gait planning, which aims to reduce foot sliding and attitude fluctuation in robot motion. The straight gaits of the robot include tripod gait, quadrangular gait, and pentagonal gait, which can be described conveniently by discretization and a time sequence diagram. In order to facilitate the user to control the robot to achieve all kinds of motion, an online gait transformation algorithm based on the adjustment of foot positions is proposed. In addition, according to the feedback of the actual attitude information, a yaw angle correction algorithm based on kinematics analysis and PD controller is designed to reduce the motion error of the robot. The experiments show that the designed gait planning scheme and control algorithm are effective, and the robot can achieve the expected motion. The RMSE of the row, pitch, and yaw angle was reduced by 35%, 25%, and 12%, respectively, using the “increasing duty factor” strategy, and the yaw angle was limited in the range −3°~3° using the yaw angle correction algorithm. Finally, the comparison with related works and the limitations are discussed.

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Section: Discussionmentioning

confidence: 99%

Straight Gait Research of a Small Electric Hexapod Robot

et al. 2021

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“…With the development of intelligent manufacturing, robot manipulators [1][2][3][4] have been widely used in various industry fields, such as spraying [5], welding [6], transport [7], and assembly [8]. Traditional nonredundant robot manipulators could not complete a precise operation with high flexibility requirements due to their freedom limitation.…”

Section: Introductionmentioning

confidence: 99%

Novel Voltage-Based Weighted Hybrid Force/Position Control for Redundant Robot Manipulators

2022

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Existing hybrid force/position control algorithms mostly explicitly contain a dynamic model. Moreover, force and position controllers will be switched frequently. To solve the above problems, a novel voltage-based weighted hybrid force/position control algorithm is proposed for redundant robot manipulators. Firstly, mapping between voltage and terminal position and orientation is established so that the designed controller can be simplified by adopting the motor current as the feedback to replace the tedious calculation of the dynamic model. Secondly, a voltage-based weighted hybrid force/position control algorithm is proposed to eliminate the selection matrix. Force and position control laws are summed directly through a weighted way to avoid the problems of space decomposition and switching. Thirdly, the stability is proven using Lyapunov stability theory, then the selection method for weighted coefficient is provided. Fourthly, comparative simulations are performed. Results show that the proposed algorithm is suitable for impedance control and hybrid force/position control and can compensate for their deficiencies. Lastly, the transport experiment in the YZ plane is conducted. Results show that position and force accuracies in the Y- and Z-axis directions are 3.489 × 10−4 and 7.313 × 10−4 m and 1.238 × 10−1 and 1.997 × 10−1 N, respectively. Accordingly, it can effectively improve the operation capability and control accuracy.

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“…As the recurrence relationship is not established between multiple links, it cannot be applied easily to the whole dynamic modeling for robotic manipulators. To overcome inaccuracy of the dynamical model of robotic manipulator, friction, clearance, and external disturbance were considered, and intelligent control strategies have been developed by many researchers for the uncertain manipulator [12][13][14], for example. In this paper, the dynamic equation with recurrence method by using Lagrange energy method is provided as an accurate mathematical model for precision trajectory tracking.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Backstepping Sliding Mode Control of Trajectory Tracking for Robotic Manipulators

Zhu

Puchen

et al. 2020

Complexity

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To achieve precise trajectory tracking of robotic manipulators in complex environment, the precise dynamic model, parameters identification, nonlinear characteristics, and disturbances are the factors that should be solved. Although parameters identification and adaptive estimate method were proposed for robotic control in many literature studies, the essential factors, such as coupling and friction, are rarely mentioned as it is difficult to build the precise dynamic model of the robotic manipulator. An adaptive backstepping sliding mode control is proposed to solve the precise trajectory tracking under external disturbances with complex environment, and the dynamic response characteristics of a two-link robotic manipulator are described in this paper. First, the Lagrange kinetic method is used to derive the precise dynamic model which includes the nonlinear factor with friction and coupling. Moreover, the dynamic model of two-link robotic manipulator is built. Second, the estimate function for the nonlinear part is selected, and backstepping algorithm is used for analyzing the stabilities of the sliding mode controller by using Lyapunov theory. Furthermore, the convergence of the proposed controller is verified subject to the external disturbance. At last, numerical simulation results are reported to demonstrate the effectiveness of the proposed method.

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Active Disturbance Rejection Control of Multi-Joint Industrial Robots Based on Dynamic Feedforward

Cited by 16 publications

References 19 publications

Straight Gait Research of a Small Electric Hexapod Robot

Straight Gait Research of a Small Electric Hexapod Robot

Novel Voltage-Based Weighted Hybrid Force/Position Control for Redundant Robot Manipulators

Adaptive Backstepping Sliding Mode Control of Trajectory Tracking for Robotic Manipulators

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