Motion Control of Industrial Robots in Operational Space: Analysis and Experiments with the PA10 Arm

Campa, Ricardo; Ramírez, César E.; Camarillo, Karla; Santibáñez, Víctor; Soto, Israel

doi:10.5772/9666

Cited by 5 publications

(6 citation statements)

References 8 publications

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“…The analysis (9) proves that the variables  x and 0 x in their physical sense correspond to the state variables in (4). It follows that some of the coefficients in (34) denote interconnections between state variables.…”

Section: Motion Control Of a Two-link Manipulatormentioning

confidence: 84%

“…However, the constraint motion of joints or nodes, taking into account the inertia and limited power of the drives, is a rather complicated control task [8][9][10][11][12][13][14]. It is often required to provide the dynamics of movements' characteristic of complex robot application.…”

Section: A B Cmentioning

confidence: 99%

“…From (10), it can be seen that the reference filter with matrices  matrices can also be viewed as an n-channel low-pass filters through the f x compensation channels. The f x filter, according to (9), is connected in series with the y and f y filter.…”

Section: Features Of the Object Dynamics And Perturbations Compensatimentioning

confidence: 99%

“…Substituting (24), (26) into (9) derives equations defining the processes in a closed control system:…”

Section: Motion Control Of One Manipulator Jointmentioning

confidence: 99%

“…Thus, it is necessary to solve the problem by adequately controlling the motion of a robotic arm and planning its trajectory. A number of research publications has addressed this issue recently [6][7][8][9][10][11][12][13][14][15]. A manipulator is a machine, in which the mechanism usually consists of a series of segments, jointed or sliding relative to one another, for the purpose of grasping and/or moving objects (pieces or tools) usually in several degrees of freedom [16].…”

Section: Introductionmentioning

confidence: 99%

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Application of Compensation Algorithms to Control the Movement of a Robot Manipulator

Shadrin¹

2020

ACTA POLYTECH HUNG

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This article presents an application-oriented method for the structural synthesis of control systems for multichannel linear objects. It provides a general form, based on the compensation for object dynamics and disturbances. The algorithm is based onalgebraic transformations of the mathematical model of the object and reference systems. The general procedure for the synthesis of a control algorithm is presented by the example of a SISO first-order object. Parametric robustness and correspondence of the system behavior to its own reference filters were derived. The possibility of applying this method to control non-linear objects presented in the form of "State Dependent Coefficient (SDC)" is ascertained. A simplified example is given by the synthesis of the motion control of a onelink manipulator with a drive, described by a second-order nonlinear equation. Control of a two-link manipulator represented by its linearized equation is demonstrated. The convenience of the proposed synthesis method for controlling multi-channel objects under certain simplifications allowed by the specifics of the use of objects is shown. The numerical example shows the independence of the system through individual channels, a zero static error in all the modes of operation and the correspondence of the system behavior to given dynamics.

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Section: Motion Control Of a Two-link Manipulatormentioning

confidence: 84%

Section: A B Cmentioning

confidence: 99%

Section: Features Of the Object Dynamics And Perturbations Compensatimentioning

confidence: 99%

“…Substituting (24), (26) into (9) derives equations defining the processes in a closed control system:…”

Section: Motion Control Of One Manipulator Jointmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Application of Compensation Algorithms to Control the Movement of a Robot Manipulator

Shadrin¹

2020

ACTA POLYTECH HUNG

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Open Robotic Controllers

Uveges¹,

Ďurovský²,

David³

2016

AEI

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This paper collects information about actual status and future trends of research and development in sphere of open robotic controllers and pointing out the importance of its advances in research, academic and commercial field. Mainly two different approaches were described there. First of them are Hardware In the Loop simulators, which are usually programmed with wellknown commercial products from academic field. On the other side, in comparison with commercial products, are open source robotic middleware which is freely available and it is managed by community of researchers and enthusiasts. The main advantage of this approach are large community support, but software may be unstable and there should be also compatibility issues between versions.

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Synthesis of the Robotic Tool Motion-Controlling Algorithm Using Method of Correction Dynamics and Pertubations Compensation

Shadrin

Alontseva

Kussaiyn-Murat

et al. 2019

Mehatronika, avtomatizaciâ, upravlenie

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The task of controlling the manipulation robot movement in one direction has been considered. Such task appears at cutting, welding, painting and other similar operations, when the robot instrument performs a program motion along the working surface and at the same time, it is necessary to keep a definite distance from this instrument to the surface automatically without excessive correction. A new algorithm of controlling the linear object of the second order of the general form has been obtained by dynamics and perturbations compensation method, which takes precedence over well-known decisions. The algorithm provides a zero static error of the system regulation and movement in acquisition of external effects within the accuracy of standard filters of the second order that is convenient for practical use. The first filter indicates movements of the system during the task performing; the second one provides perturbations compensation on state variables. A step-by-step procedure of the algorithm synthesis has been represented for the second order controlled object of the general form. Formulae for calculating regulator coefficients have been obtained. The obtained equations defining processes in a closed control system allow performing the analysis of the control quality and the dynamics of control changes depending on external influences. A method of equations identification of the robot motion in conditions when we know the maximum speed of its instrument movement and a dynamic error of the robot servosystem regulating has been developed. By this method, the robot equations are brought up to the Vyshnegradskiy’s form and then on the computer model a fundamental frequency and a decay factor can be easily chosen. The application of the obtained algorithm has been reviewed to create a system of automatic regulation of the robot instrument position. It has been clarified that defining free coefficients of these filters on position of filter fundamental frequency equation and a controlled object provides the given system operation speed at moderate amplitude of controlling actions. A mathematical modeling method has shown the advantages of regulation program quality, parametric and structural robustness of the obtained control system.

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Motion Control of Industrial Robots in Operational Space: Analysis and Experiments with the PA10 Arm

Cited by 5 publications

References 8 publications

Application of Compensation Algorithms to Control the Movement of a Robot Manipulator

Application of Compensation Algorithms to Control the Movement of a Robot Manipulator

Open Robotic Controllers

Synthesis of the Robotic Tool Motion-Controlling Algorithm Using Method of Correction Dynamics and Pertubations Compensation

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