Design of Intelligent Hybrid Force and Position Control of Robot Manipulator

Rani, Komal; Kumar, Naveen

doi:10.1016/j.procs.2017.12.008

Cited by 15 publications

(5 citation statements)

References 15 publications

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“…187 A two-RLM was controlled in ref. [188] by the combination of a model-based approach, a radial basis function NN, and an adaptive bound part. The radial basis function was employed to discover the uncertain dynamic parameters, the NN was utilized to approximate the error, and the adaptive bound part was used to estimate the bounds on unmolded dynamics.…”

Section: Hybrid Controllersmentioning

confidence: 99%

“…The radial basis function was employed to discover the uncertain dynamic parameters, the NN was utilized to approximate the error, and the adaptive bound part was used to estimate the bounds on unmolded dynamics. 188 Another two-RLM was controlled by three combined control techniques: a FLC, a PSO technique, and support vector machine (SVM) which named Fuzzified PSO-SVM. The proposed controller is superior over the standard FLC, PSO, and PSO-SVM.…”

Section: Hybrid Controllersmentioning

confidence: 99%

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A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Alandoli

Lee

2020

Robotica

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SUMMARY There is a high demand for developing effective controllers to perform fast and accurate operations for either flexible link manipulators (FLMs) or rigid link manipulators (RLMs). Thus, this paper is beneficial for such vast field, and it is also advantageous and indispensable for researchers who are interested in robotics to have sufficient knowledge about various controllers of FLMs and RLMs as the controllers’ concepts are elaborated in detail. The paper concentrates in critically reviewing classical controllers, intelligent controllers, robust controllers, and hybrid controllers for both FLMs and RLMs. The advantages and disadvantages of the aforementioned control methods are summarized in this paper; it also has a detailed comparison for the controllers in terms of the design difficulty, performance, and the suitability for controlling FLMs or RLMs.

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Section: Hybrid Controllersmentioning

confidence: 99%

Section: Hybrid Controllersmentioning

confidence: 99%

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Alandoli

Lee

2020

Robotica

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“…The matrix defines which coordinate directions are controlled by either force or position. This concept has also been the subject of much research efforts in recent years, especially in the area of robot control 27‐29 …”

Section: Hybrid Control Conceptmentioning

confidence: 99%

“…This concept has also been the subject of much research efforts in recent years, especially in the area of robot control. [27][28][29] Electromechanical feed axes in production machines have only one degree of freedom for motions, so the selection matrix is not necessary. Transferring the hybrid control concept should make it possible to change the controllers or use them both simultaneously.…”

Section: Hybrid Control Conceptmentioning

confidence: 99%

Simulative investigation of hybrid force and position control for electromechanical feed axes in production machines

Sewohl

Norberger

Schlegel

et al. 2020

Engineering Reports

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In the area of production engineering, there are several ongoing efforts to improve manufacturing strategies and processes in terms of stability, quality, and efficiency. Control of process forces is one such appropriate measure for ensuring stable process conditions. This can also ensure in reducing the number of parts rejected due to bad quality and thus aiding as a significant economic benefit. However, control of process forces in production machines with electromechanical feed axes is still a developing field and offers space for potential improvement. Control concepts at the process level, which enable a combination of force control and position control still need to be developed. The concept of hybrid force and position control is presented in this article as a possible approach. Different methods of implementation along with the effects are examined in the simulation. A reduced‐order model of an electromechanical feed axis is used for this purpose. The potential of the hybrid force and position control as well as the limits and possible applications are explained based on the simulation results.

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“…In fact, the aforementioned works have focused on a combination of control approaches, which is considered as a fruitful control strategy. More recent works on the area of hybrid control have used hybrid actuator control for many applications such as spacecraft attitude tracking control [6] and robotics technologies [7][8][9][10][11][12][13][14][15].…”

Section: Introductionmentioning

confidence: 99%

Robust fault tolerant optimal predictive control of hybrid actuators with time‐varying delay for industrial robot arm

Zahaf

Bououden

Chadli

et al. 2020

Asian Journal of Control

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This paper presents a robust hybrid fault-tolerant optimal predictive control (HFTPC), for an industrial robot arm under hybrid (electric and pneumatic) actuator faults and/or varying time-delays. Based on the error dynamics, estimated states, and a predictive controller, a new state feedback control law is proposed and implemented for the reformulation of the optimal control problem of a nonlinear faulty hybrid actuator system based on predictive control via linear matrix inequalities (LMIs). First, a robust MPC scheme is performed in which the future control sequence is used to compensate the varying timedelays. Then, a robust stable hybrid fault tolerant predivtive control is implemented to handle actuators faults to effect robust trajectory tracking. In fact, the stability of hybrid systems based on the proposed control scheme is a very sensitive criterion. Therefore, stability conditions are required for controlling the industrial arm under faulty hybrid (electric and pneumatic) actuator, based on the Lyapunov-Krasovskii (L-K) theory, less conservative stable conditions in terms of LMIs are given and used to ensure the asymptotically robust stability of closed-loop constrained system that dependent delay-range. To highlight the robustness and effectiveness of the proposed approach, a simulation study of an industrial robot arm example is proved, where the results showed the prompt and the accuracy of the proposed scheme.

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Design of Intelligent Hybrid Force and Position Control of Robot Manipulator

Cited by 15 publications

References 15 publications

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Simulative investigation of hybrid force and position control for electromechanical feed axes in production machines

Robust fault tolerant optimal predictive control of hybrid actuators with time‐varying delay for industrial robot arm

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