Design, simulation and comparison of controllers for a redundant robot

Urrea, Claudio; Kern, John

doi:10.1016/j.csmssp.2015.12.001

Cited by 8 publications

(7 citation statements)

References 12 publications

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“…Due to the fact that advance in applications require advance in design, and Research that involves the use of autonomous vehicle is generally divided into three phases: [10], [11] 1. Simulations 2.…”

Section: Research Gapmentioning

confidence: 99%

“…motion distortion within the scans can be neglected) or when the sensor scan rate is compared to its extrinsic motion [14]. -Conference, 3 ICEENG th 11 Proceedings of the 49-GNC 3 The proposed algorithm in the current paper meant to predict Point Scan Sensor output data mounted on a moving vehicle (i.e. ground vehicle , ship , submerged under water vehicle......) detecting moving objects in different situation in three dimensions.…”

Section: Research Gapmentioning

confidence: 99%

“…The proposed simulation model in this paper was inspired by mathematical model developed by H. Arnaoot [18]. 11 Proceedings of the 49-GNC 4…”

Section: Sensor Simulation Mathematical Model Assumptionmentioning

confidence: 99%

“…(5) 11 Proceedings of the 49-GNC 5 11-When this equation is solved, the following result is obtained (6) 12-Remove fake scan matrix results using methods proposed by [18]. 13-Applying previous equations with the scan line and each obstacle corner plane yields a set of points.…”

Section: Q1+t · (Q2− Q1) = (1 − U − V) · V1+ U · V2+ V · V3mentioning

confidence: 99%

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An Alternative Method to Simulate Three-Dimensional Point Scan Sensors aboard Moving Vehicle

Mosleh

Zaghloul

Arnaoot

2018

The International Conference on Electrical Engineering

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This paper introduces an alternative simulation algorithm of a Laser Measurement System LMS sensor. The sensor is mounted on an autonomous ship sailing. The ship identifies the environment (surrounding fixed or moving obstacles) for safe navigation through the sensor. The simulation is done with six degree of freedom. The proposed algorithm was applied by a vb.net 2010 program -written as part of the research-to do the simulation of the proposed model to reduce calculation overhead and to allow creation of embedded system. The simulation algorithm was verified by in field sea trials on an 11m long yacht with two 250 hp outboard engines. Sick 218-laser measurement system was used. The results showed that ship relatively high (roll, pitch) motion dynamics generates false data. It produces a large number of fake points (sea in case of unmanned surface vehicle or ground surface in case of robot moving on ground), which greatly overloads data processing system and in the same time reduces the target-detected points. This leads to reduction of the capability of detection . This paper suggests a number of solutions to reduce this effect were suggested in this paper. This paper is a step toward building an autonomous vehicle that can move in complex environment using a Point Scan Sensor as main sensor.

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Section: Research Gapmentioning

confidence: 99%

Section: Research Gapmentioning

confidence: 99%

“…The proposed simulation model in this paper was inspired by mathematical model developed by H. Arnaoot [18]. 11 Proceedings of the 49-GNC 4…”

Section: Sensor Simulation Mathematical Model Assumptionmentioning

confidence: 99%

Section: Q1+t · (Q2− Q1) = (1 − U − V) · V1+ U · V2+ V · V3mentioning

confidence: 99%

See 2 more Smart Citations

An Alternative Method to Simulate Three-Dimensional Point Scan Sensors aboard Moving Vehicle

Mosleh

Zaghloul

Arnaoot

2018

The International Conference on Electrical Engineering

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“…Cazalilla et al [24,25] developed an adaptive controller for the 3-PRS parallel mechanism with consideration of some uncertainties; the simulation results show that the adaptive controller can greatly improve the trajectory tracking precision compared with the passivity-based controllers. Urrea and Kern [26] presented a summary of the controllers considering for the evaluation of the redundant robot model with their actuators and corresponding performance. Callegari et al [27] presented the inverse dynamic model by means of the principle of virtual work; three control strategies were employed and the results show that hybrid position/force schemes should be able to provide better performance than the other position control or force control.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Tracking Control Study of a New Parallel Mechanism with Redundant Actuation

Zhang

Fang

Zhang

et al. 2020

International Journal of Aerospace Engineering

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Parallel mechanisms with redundant actuation are attracting numerous scholars’ research interest due to their inherent advantages. In this paper, an efficient trajectory tracking control scheme for the new redundantly actuated parallel mechanism by integrating force/position hybrid control with the combination of inertia feed-forward control and back propagation (BP) neural network PID control is proposed. The dynamic models including the joint space and task space are formulated explicitly in efficient and compact form by means of the principle of virtual work and d’Alembert formulations. The force/position hybrid control is implemented to perform trajectory tracking and optimize the driving force configuration in MATLAB/Simulink environment, before being applied to an actual parallel mechanism. The illustrative simulation results demonstrate that the force/position hybrid control scheme is available to provide good trajectory tracking performance. Simultaneously, the feasibility of the proposed control scheme is verified by comparison analysis with the aforementioned conventional control method.

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Evolving an interval type-2 fuzzy PID controller for the redundant robotic manipulator

Kumar

2017

Expert Systems with Applications

103

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Design, simulation and comparison of controllers for a redundant robot

Cited by 8 publications

References 12 publications

An Alternative Method to Simulate Three-Dimensional Point Scan Sensors aboard Moving Vehicle

An Alternative Method to Simulate Three-Dimensional Point Scan Sensors aboard Moving Vehicle

Trajectory Tracking Control Study of a New Parallel Mechanism with Redundant Actuation

Evolving an interval type-2 fuzzy PID controller for the redundant robotic manipulator

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