Adaptive Control of Nonlinear Dynamic SCARA Type of Manipulators

Garg, Devendra P.

doi:10.1017/s0263574700006482

Cited by 4 publications

(4 citation statements)

References 19 publications

(10 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…𝑥̇(𝑡) = 𝐴𝑥(𝑡) + 𝐵 𝑤(𝑡) + 𝐵 𝑢(𝑡) (8) 𝑦(𝑡) = 𝐶 𝑥(𝑡) + 𝐷 𝑤(𝑡) (9) where 𝑥(𝑡) is the state of the plant, 𝑤(𝑡) is the disturbance input, 𝑦(𝑡) is the final output and 𝐴, 𝐵 , 𝐵 , 𝐶 , 𝐷 12 is the constant matrixes. The adaptation mechanism which is the adaption control law will continuously be adjusting the adjustable parameter in the controller according to the operating environment based on the reference model [33]. The adaptation control law can be formulated as shown in (10) where 𝑥 (𝑡) is the reference output, 𝑟(𝑡) is the step-type reference signal, 𝑥 (𝑡) is the integral compensator and 𝐾(𝑡), 𝐹(𝑡), 𝐻(𝑡) will be updated using (11).…”

Section: Adaptive Controlmentioning

confidence: 99%

A Review of SCARA Robot Control System

Tay

Choong

Yoong

2022

2022 IEEE International Conference on Artificial Intelligence in Engineering and Technology (IICAIET)

View full text Add to dashboard Cite

In the era of industrial revolution 4.0 (IR4.0), robotics is a common automation tool to comply the repetitive and dangerous jobs for assisting the human workforce. Among the robotic arm, the SCARA robot is one of the well-established robots in the industry due to its high speed and high accuracy.To achieve good control at high speed, the controller is key to ensuring the SCARA robot at such a performance. This paper presents a brief review of the controllers and their pros and cons when applying to the SCARA robot. The reviewed controllers include PID Control, fuzzy logic control, neural networks control, sliding mode control, impedance control, adaptive control and robust control. Besides that, the review also covers the implementation of the Internet of Things (IoT) and artificial intelligence (AI) on the SCARA robot as the trend of IR 4.0.

show abstract

Section: Adaptive Controlmentioning

confidence: 99%

A Review of SCARA Robot Control System

Tay

Choong

Yoong

2022

2022 IEEE International Conference on Artificial Intelligence in Engineering and Technology (IICAIET)

View full text Add to dashboard Cite

show abstract

“…1 (see Fig. 4), but it presents many differences with respect to a classic SCARA robot [4][5][6][7][8], since with the aim of being over-actuated, it has a joint configuration of the RRRPRP kind, instead of the RRPRRP configuration of a classic SCARA robot. By being over-actuated, this robot can be used to investigate fault-tolerant control techniques, among other issues.…”

Section: Scara Robot #mentioning

confidence: 99%

“…The inverse kinematics of the SCARA robot # 2 is calculated using homogeneous transformation matrices [1,[4][5][6]8,[10][11][12].…”

Section: Inverse Kinematicsmentioning

confidence: 99%

Design and implementation of a graphic 3D simulator for the study of control techniques applied to cooperative robots

Urrea

Coltters

2015

Int. J. Control Autom. Syst.

View full text Add to dashboard Cite

A new methodology is proposed for the design and implementation of three-dimensional simulations of manipulator robots, in individual as well as cooperative tasks, using several programming and 3D-design tools. To obtain easily the dynamic-mathematical models of movement for the represented systems, regardless of the kind of manipulator robot to be considered, the development of a computer algorithm is also presented. Besides, through the use of the Bullet library, we incorporated the detection of collisions between constitutive elements of the system, considering elements external to the robots, collisions between links of the same robot, or between two robots. Using a C++ programming platform, we also designed and implemented a flexible and intuitive graphic user interface. The dynamic-mathematical performance of the cooperative interaction between two actual robots, designed and implemented in the Departamento de Ingeniería Eléctrica of the Universidad de Santiago de Chile (DIE-UdeSantiago de Chile), was modeled, plotted and three-dimensionally simulated, by using the new algorithm proposed for this purpose. Finally, the performance results are presented and analyzed.

show abstract

“…In this paper the trajectory tracking control of a SCARA type robot is considered. SCARA manipulators are widely used in industrial factories and academic laboratories, gathering various research works for different control strategies (Garg, 1991;Whitcomb et al, 1993;Visioli and Legnani, 2002;Roudbari, 2010).…”

Section: Introductionmentioning

confidence: 99%