Influence of the motion profile on the performance of a multi-joint robot

Mejerbi, Marouen; Zribi, Sameh; Knani, Jilani

doi:10.1109/icmic.2015.7409467

Cited by 3 publications

(1 citation statement)

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“…To remedy to these difficulties and in order to ensure high performance of the flexible mechanisms, the development of a trajectory planning, the improvement of a dynamic model and the synthesis of an adequate control must be taken into account. In previous research works and as the first step, the interest was focused on the importance of motion profile that must satisfy some requirements such as the motion flexibility and its optimality in terms of energy consumption and time for the period of its operation ( [7], [8]). In the second step, the improvement of the dynamic model of the flexible mechanism was achieved using the Linear Parameter Varying approach [9].…”

Section: Introductionmentioning

confidence: 99%

Improvement of Ultra-local Model Control Using the Auto-tuning PID Control Applied to Redundant Manipulator Robot

Zribi¹,

Tlijani²,

Knani³

2018

IJMERR

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This article discusses the development of a new control strategy that merges an ultra-local model control with an auto-tuning PID control applied to a flexible mechanism with an endpoint load. This will help obtain a suitable control system to well manage the behavior of this flexible structure. The proposed approach uses an ultralocal model control, which consists of locally modeling such a system that is instantly updated only from the knowledge of the input and output system then estimating its parameter via an algebraic derivation approach. And then of auto-tuning PID control which consists on automatically tuning the PID controller's gains using the pole placement technique. In order to evaluate the robustness and efficiency of the proposed approach against the internal vibration of the flexible structure and to the external distribution, the new control has been applied to a flexible manipulator robot using several motion profiles. Results are presented and discussed which illustrate the validity of the proposed control strategy that has been carried out in the presence of internal vibration and several inputs. 

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Section: Introductionmentioning

confidence: 99%