Repetitive Control Scheme of Robotic Manipulators Based on Improved B‐Spline Function

Abstract

In this paper, a repetitive control scheme of a 2-DOF robotic manipulator based on the improved cubic B-spline curve is proposed. Firstly, a repetitive controller for robotic manipulator is designed, which is composed of an iterative controller and disturbance observer. Then, an improved B-spline optimization scheme is introduced to divide the task of the robotic manipulator into three intervals. A correction function is added to each interval of cubic spline interpolation. Finally, a variety of cases are designed and simulated by MATLAB. The experimental results show that, compared with the conventional B-spline, the improved B-spline has better performance in tracking accuracy and smoothness of motion trajectory. By changing the mechanism of the manipulator, the cases of different weights and lengths are designed. The experimental results in these cases show that the proposed scheme can be applied to most of the 2-DOF robotic manipulator control systems.

Robot Time Optimal Trajectory Planning Based on Improved Simplified Particle Swarm Optimization Algorithm

“…At the same time, the golden section coefficient is introduced to accelerate the convergence velocity of the algorithm, allowing for each iteration to explore the region near the optimal solution and promoting strong local development ability. The location update formula for GSA is shown in equation (14).…”

“…Furthermore, the golden sine segmentation algorithm is introduced into the later stage of the PSO as an optimization operator. In ISPSO, the search agent is updated twice in equation (14).…”

“…Step5: For the particles generated in step 4, generation of a new particle swarm guided by the golden sine according to equation (14).…”

“…Wang et al [14] proposed an improved b-spline interpolation method to improve the tracking accuracy and motion smoothness of the b-spline by adding correction functions. Despite the progress reported in the literature, these traditional algorithms have high computational order and lack of convex, which is difficult to solve using the traditional optimization method.…”

Elasto-Geometrical Model-Based Control of Industrial Manipulators Using Force Feedback: Application to Incremental Sheet Forming

“…The second method is to implement an absolute position feedback control, usually relying on external sensors [3][4][5]. Most commonly, the tool is tracked by an exteroceptive sensor (for instance, a laser tracker [6], an encoder [7] or a 3D camera [8,9]), and the position feedback enables real-time compensation for the robot's inaccuracy.…”