Robust control of robot manipulators using dynamic compensator

Kim, Chin Su; Lee, Kang Woong

doi:10.1109/icca.2009.5410309

Cited by 10 publications

(8 citation statements)

References 6 publications

(5 reference statements)

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“…The dynamic model presented in [7][8][9][10] is basically the dynamical description of the mechanical arm of the manipulator. Kim and Lee [11] proposed a robust control model of robotic manipulators under parametric uncertainty using only robot link dynamic model based on the Lagrange-Euler equation of motion of robot links. This method of robot dynamic model was used in many research works but recently, it has been criticized in Fateh [12], due to its limitations in feedback application and drawback in its application to the actuator inputs.…”

Section: Literature Reviewmentioning

confidence: 99%

Robust Control for a 3DOF Articulated Robotic Manipulator Joint Torque under Uncertainties

Agbaraji

Udeani

Inyiama

et al. 2020

JERR

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This research work emphasizes on design of a robust control for a 3DOF robotic manipulator under uncertainties. The plant model was achieved using the independent joint method and the uncertainty problem was addressed by designing a robust controller using H-Infinity synthesis which was compared with PID. This was achieved with algorithms implemented in MATLAB. The H-Infinity controller recorded 0dB, while PID controller recorded 0.117dB and 0.061dB for joints I and II respectively in Complementary Sensitivity (T) graph at low frequencies. H-Infinity controller achieved better disturbance rejection characteristics with sensitivity (S) graph recording peak sensitivity of 0.817dB and 1.79dB at joints I and II respectively than PID controller which achieved 3dB and 1.86dB at joints I and II respectively. H-Infinity controller achieved better noise rejection characteristics with T graph recording lower gains at joints I and II respectively at high frequencies than PID controller which recorded higher gains at joints I and II respectively. Thus, it was concluded that the H-Infinity controller achieved better performance and stability robustness characteristics for the joint torque control than the PID.

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Section: Literature Reviewmentioning

confidence: 99%

Robust Control for a 3DOF Articulated Robotic Manipulator Joint Torque under Uncertainties

Agbaraji

Udeani

Inyiama

et al. 2020

JERR

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“…In many situations, the robot dynamics is subject to uncertainties that results from the dynamics parameters uncertainty and called parametric uncertainties, i.e. the precise robot parameters are assumed to be within known bounds [27,28]. There are other sources of uncertainties that are not related to the parameters of the robot dynamics and called nonparametric uncertainties [29] and caused from approximating higher frequency dynamics.…”

Section: Introductionmentioning

confidence: 99%

Adaptive sliding mode fuzzy control for unknown robots with arbitrarily-switched constraints

2015

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“…With the use of the robots in critical applications like dealing with hazardous materials and other sensitive applications, the precise control of the robot arms has become an essential requirement. Motivated by such control requirements, for practical and complex control problem of robot manipulators, many research contributions have been reported in the field of robotic control schemes such as proportional-integration-derivative (PID) control, PD control, PI control [2], feedforward compensation control (DFF) [3], adaptive control [4,5], variable structure control [6], computed torque control (CTC) [1,7,8].…”

Section: Introductionmentioning

confidence: 99%

Trajectory Planning of Five Dof Manipulator: Dynamic Feed Forward Controller Over Computed Torque Controller

Elyazed¹,

Mabrouk²,

Elnor³

et al. 2016

The International Conference on Applied Mechanics and Mechanica

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Industrial robot control has been a challenge for decades especially for those manipulators, which are assigned to work in hazardous environment. The DFF (Dynamic Feed-Forward) controller and the CTM (Computed-Torque Method) based controller, are generally used for dynamic control of industrial robots. This paper presents a comparison of the two controllers applied on a five DOF manipulator case study. To verify the design of the controllers, the dynamic models of the manipulator used in this work are developed in two different ways. Firstly, the model is designed through Newton-Euler method for real time computation. Secondly the model is designed through simulations using Matlab Sim-mechanics for evaluating the developed controller. The experimental setup depends on using both controllers with a five DOF educational manipulator. For data analysis, a comparison between the computed torque controller and the dynamic feed forward controller is held on the same system under same conditions. The results show the efficiency of using the dynamic feed forward controller over the computed torque controller as a basis for manipulators' trajectory planning. KEYWORDSGraphical user interface, industrial robots, robot modeling and control.---

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Robust control of robot manipulators using dynamic compensator

Cited by 10 publications

References 6 publications

Robust Control for a 3DOF Articulated Robotic Manipulator Joint Torque under Uncertainties

Robust Control for a 3DOF Articulated Robotic Manipulator Joint Torque under Uncertainties

Adaptive sliding mode fuzzy control for unknown robots with arbitrarily-switched constraints

Trajectory Planning of Five Dof Manipulator: Dynamic Feed Forward Controller Over Computed Torque Controller

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