Shadow robot for teaching motion

Katsura, Seiichiro; Matsumoto, Yuichi; Ohnishi, Kouhei

doi:10.1016/j.robot.2010.03.004

Cited by 4 publications

(3 citation statements)

References 26 publications

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“…A disturbance rejection with adaptive control to estimate the plant and disturbance parameters adaptively was presented in Chen and Huang (2009). Disturbance observers are widely addressed in literature in areas relevant to independent joint control (Eom et al, 2001), shadow robot control (Katsura and Matsumoto, 2010), fault detection (Chan, 1995), sensor less-force control (Shimada et al, 2010) and teleoperation (Natori et al, 2010). Fast dynamic response and excellent robustness with insensitivity to load disturbance of observer-based control techniques brings superior performance in positioning accuracy of manipulators (Li et al, 2014).…”

Section: Introductionmentioning

confidence: 99%

Development and motion control of spatial serial robotic manipulator under varying disturbances

Epenetus

Mohan

et al. 2019

WJE

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Purpose Key challenges in evaluating the performance of a robotic manipulator are disturbances that rise internally and externally. Effects of non-linear disturbances like varying payload and joint friction can adversely affect the tracking performance in a robotic manipulator. This paper aims to discuss motion control of a three-link spatial manipulator using a computed torque observer-based control technique. Design/methodology/approach The overall motion control problem consists of derivation of kinematic and dynamic model of the manipulator followed by the control design to achieve desired manipulator response. In this study, the manipulator is subjected to uncertain varying load disturbances. The proposed motion controller compensates the effect of the disturbances and guarantees the convergence of tracking error to steady state value. Findings One major advantage of using observer-based control is positioning accuracy with robustness to parameter uncertainty and fast dynamics response. The performance of the proposed control technique is validated through real-time experiments conducted on the manipulator. The experiment results confirm the superior performance of the control system in achieving perfect tracking. Originality/value This paper demonstrates an observer-based control technique over a serial spatial manipulator which can be applied different robotic configurations under the effect of varying disturbances.

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Section: Introductionmentioning

confidence: 99%

Development and motion control of spatial serial robotic manipulator under varying disturbances

Epenetus

Mohan

et al. 2019

WJE

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“…Recently, a new system has been developed to teach motion to robots in order to improve their dexterity (Katsura et al, 2010). The so-called shadow robot system consists of two identical robots.…”

Section: Introductionmentioning

confidence: 99%

“…However, Chen et al could find such a gain matrix for a 2-link planar manipulator with revolute joints. Later, Nikoobin et al generalized Chen's solution to Disturbance rejection Independent joint control (Zhongyi et al, 2008), (Park and Lee, 2007), (Choi and Kwak, 2003), (Eom et al, 1997), (Komada et al, 1996), (Hu and Muller, 1996) Friction estimation and compensation (Bona and Indri, 2005), (Sawut et al, 2001) (Mohammadi et al, 2011a) Time-delayed and transparent teleoperation control (Mohammadi et al, 2011b), (Natori et al, 2010), (Natori et al, 2007), (Natori et al, 2006) Force/torque estimation Sensorless force control (Shimada et al, 2010), (Katsura et al, 2003), (Eom et al, 1998), (Lee et al, 1993) Shadow robot system (Katsura et al, 2010) Fault detection (Sneider and Frank, 1996), (Chan, 1995), (Ohishi and Ohde, 1994) n-link planar manipulators with revolute joints by exploiting the explicit relation for this particular class of robots (Nikoobin and Haghighi, 2009). In addition to limitations on manipulator configuration, their design could not guarantee exponential disturbance tracking and merely proved asymptotic disturbance tracking.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear disturbance observer design for robotic manipulators

Mohammadi

Tavakoli

Marquez

et al. 2013

Control Engineering Practice

392

224

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Robotic manipulators are highly nonlinear and coupled systems that are subject to different types of disturbances such as joint frictions, unknown payloads, varying contact points, and unmodeled dynamics. These disturbances, when unaccounted for, adversely affect the performance of the manipulator. Employing a disturbance observer is a common method to reject such disturbances. In addition to disturbance rejection, disturbance observers can be used in force control applications. Recently, research has been done regarding the design of nonlinear disturbance observers (NLDOs) for robotic manipulators. In spite of good results in terms of disturbance tracking, the previously designed nonlinear disturbance observers can merely be used for planar serial manipulators with revolute joints (Chen, W.H., Ballance, D.J., Gawthorp, P.J., O'Reilly, J., 2000. A nonlinear disturbance observer for robotic manipulators. IEEE Trans. Ind. Electron. 47, 932-938), (Nikoobin, A., Haghighi, R., 2009. Lyapunov-based nonlinear disturbance observer for serial n-link manipulators. J. Intell. Robot. Syst. 55,[135][136][137][138][139][140][141][142][143][144][145][146][147][148][149][150][151][152][153]. In this paper, a general systematic approach is proposed to solve the disturbance observer design problem for robotic manipulators without restrictions on the number of degrees-of-freedom (DOFs), the types of joints, or the manipulator configuration. Moreover, this design method does not need the exact dynamic model of the serial robotic manipulator. This method also * Corresponding author, Tel.: +1 (647) unifies the previously proposed linear and nonlinear disturbance observers in a general framework. Simulations are presented for a 4-DOF SCARA manipulator to show the effectiveness of the proposed disturbance observer design method. Experimental results using a PHANToM Omni haptic device further illustrate the effectiveness of the design method.

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Linear Active Disturbance Rejection Controller Design For Underwater Vehicle Manipulators with 2-links

Wang

et al. 2018

2018 Chinese Automation Congress (CAC)

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Shadow robot for teaching motion

Cited by 4 publications

References 26 publications

Development and motion control of spatial serial robotic manipulator under varying disturbances

Development and motion control of spatial serial robotic manipulator under varying disturbances

Nonlinear disturbance observer design for robotic manipulators

Linear Active Disturbance Rejection Controller Design For Underwater Vehicle Manipulators with 2-links

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