ℋ∞-Controller Design Methods Applied to One Joint of a Flexible Industrial Manipulator

Axelsson, Patrik; Helmersson, Anders; Norrlöf, Mikael

doi:10.3182/20140824-6-za-1003.00143

Cited by 9 publications

(5 citation statements)

References 18 publications

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“…For the case study presented in this paper, we focused on the load configuration producing a dynamics with three dominant bending modes. This situation is often encountered in robotic applications, where the oscillatory dynamics results from the mechanical compliance of either gearing, the robot arm itself, or due to combination of flexibility of both components [15,16].…”

Section: Flexible Arm Benchmark Problemmentioning

confidence: 99%

Employing Finite Element Analysis and Robust Control Concepts in Mechatronic System Design-Flexible Manipulator Case Study

et al. 2021

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The paper deals with development of a methodology for mechatronic system design using state-of-the-art model-based system engineering methods. A simple flexible robotic arm is considered as a benchmark problem for the evaluation of various techniques used in the phases of modelling, analysis, control system design, validation, and implementation. The flexible nature of the mechanical structure introduces inherently oscillatory dynamics in the target bandwidth range, which complicates all the above-mentioned design steps. This paper demonstrates the process of deriving a complex nonlinear model of the flexible arm setup. An initial idea about the plant dynamics is acquired from analytical modelling using the Euler–Bernoulli beam theory. A more thorough understanding is subsequently acquired from finite element analysis. Linearisation and order reduction are the next steps necessary for the derivation of a simplified control-relevant model. A time-dependent variable parameter of load mass position is considered and a robust controller is subsequently designed in order to fulfil certain performance criteria for all the admissible plant configurations. This is performed using a recent H-infinity loop shaping method for fixed structure controller design. The results are validated by means of a physical plant, comparing the experimental data with the model predictions.

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Section: Flexible Arm Benchmark Problemmentioning

confidence: 99%

Employing Finite Element Analysis and Robust Control Concepts in Mechatronic System Design-Flexible Manipulator Case Study

et al. 2021

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“…To obtain S small at low frequencies, each component of the weighting matrix W S (s) must be a low pass filter [11] [12]. By choosing the same weights on each component:…”

Section: B the Choice Of The Weighting Matricesmentioning

confidence: 99%

H∞ feedback control for Parallel mechanism and application to delta robot

Rachedi¹,

Bouri

Hemici

2014

22nd Mediterranean Conference on Control and Automation

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This paper discusses the design of an H∞ MIMO centralized feedback controller applied to a 3 DOF parallel robot namely the "Delta robot". The designed controller is used in combination with a feed-forward pre-computed torque (a priori torque). The simulation results for a complex trajectory used in pick and place operation with high acceleration (12 G) show the performance improvements obtained by the total controller (a priori torque + H∞ feedback) in comparison to the conventional decentralized PID controller used with the a priori torque.

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“…All of these approaches resulted very high order of controllers that are difficult to be implemented in a small embedded system [9]. Another research synthesized a conventional high order H∞ controller and tried to reduce the order using control reduction method in Matlab [10]. The conventional high order H∞ controller results were 10 th to 13th order of controllers.…”

Section: Introductionmentioning

confidence: 99%

Joint control of a robotic arm using particle swarm optimization based H2/H∞ robust control on arduino

Sutyasadi

Wicaksono

2020

TELKOMNIKA

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This paper proposes a small structure of robust controller to control robotic arm's joints where exist some uncertainties and unmodelled dynamics. Robotic arm is widely used now in the era of Industry 4.0. Nevertheless, the cost for an industry to migrate from a conventional automatic machine to industrial robot still very high. This become a significant challenge to middle or small size industry. Development of a low cost industrial robotic arm can be one of good solutions for them. However, a low-cost manipulator can bring more uncertainties. There might be exist more unmodelled dynamic in a low-cost system. A good controller to overcome such uncertainties and unmodelled dynamics is robust controller. A low-cost robotic arm might use small or medium size embedded controller such as Arduino. Therefore, the control algorithm should be a small order of controller. The synthesized controller was tested using MATLAB and then implemented on the real hardware to control a robotic manipulator. Both the simulation and the experiment showed that the proposed controller performed satisfactory results. It can control the joint position to the desired position even in the presence of uncertainties such as unmodelled dynamics and variation of loads or manipulator poses.

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ℋ∞-Controller Design Methods Applied to One Joint of a Flexible Industrial Manipulator

Cited by 9 publications

References 18 publications

Employing Finite Element Analysis and Robust Control Concepts in Mechatronic System Design-Flexible Manipulator Case Study

Employing Finite Element Analysis and Robust Control Concepts in Mechatronic System Design-Flexible Manipulator Case Study

H∞ feedback control for Parallel mechanism and application to delta robot

Joint control of a robotic arm using particle swarm optimization based H2/H∞ robust control on arduino

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ℋ∞-Controller Design Methods Applied to One Joint of a Flexible Industrial Manipulator

Cited by 9 publications

References 18 publications

Employing Finite Element Analysis and Robust Control Concepts in Mechatronic System Design-Flexible Manipulator Case Study

Employing Finite Element Analysis and Robust Control Concepts in Mechatronic System Design-Flexible Manipulator Case Study

H&#x221E; feedback control for Parallel mechanism and application to delta robot

Joint control of a robotic arm using particle swarm optimization based H2/H∞ robust control on arduino

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H∞ feedback control for Parallel mechanism and application to delta robot