Global Saturated Regulator with Variable Gains for Robot Manipulators

Sánchez-García, Brandon; Reyes-Cortés, Fernando; Al‐Hadithi, Basil Mohammed; Beltran, Oriol

doi:10.18196/26139

Cited by 3 publications

(2 citation statements)

References 17 publications

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“…Alternatively, a diverged outlook was exempted by Luo et al, Cao et al and Bu on the adaptation of intelligent control towards enhance sensory tracking of said error transformation control approach [43][44][45]. With a wide range of formulations being undertaken towards PPC, in-depth priority was further relocated to the system's PPF on its immense potential for enhanced real-time applications [46][47][48][49][50][51][52][53][54].…”

Section: Introductionmentioning

confidence: 99%

Interaction Motion Control on Tri-finger Pneumatic Grasper using Variable Convergence Rate Prescribed Performance Impedance Control with Pressure-based Force Estimator

Irawan

Azahar

Pebrianti

2022

Journal of Robotics and Control

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Pneumatic robot is a fluid dynamic based robot system which possesses immense uncertainties and nonlinearities over its electrical driven counterpart. Requirement for dynamic motion handling further challenged the implemented control system on both aspects of interaction and compliance control. This study especially set to counter the unstable and inadaptable proportional motions of pneumatic robot grasper towards its environment through the employment of Variable Convergence Rate Prescribed Performance Impedance Control (VPPIC) with pressure-based force estimation (PFE). Impedance control was derived for a single finger of Tri-finger Pneumatic Grasper (TPG) robot, with improvement being subsequently made to the controller’s output by appropriation of formulated finite-time prescribed performance control. Produced responses from exerted pressure of the maneuvered pneumatic piston were then recorded via derived PEE with adherence to both dynamics and geometry of the designated finger. Validation of the proposed method was proceeded on both circumstances of human hand as a blockage and ping-pong ball as methodical representation of a fragile object. Developed findings confirmed relatively uniform force sensing ability for both proposed PEE and load sensor as equipped to the robot’s fingertip with respect to the experimented thrusting and holding of a human hand. Sensing capacity of the estimator has also advanced beyond the fingertip to enclose its finger in entirety. Whereas stable interaction control at negligible oscillation has been exhibited from VPPIC against the standard impedance control towards gentle and compression-free handling of fragile objects. Overall positional tracking of the finger, thus, justified VPPIC as a robust mechanism for smooth operation amid and succeed direct object interaction, notwithstanding its transcendence beyond boundaries of the prescribed performance constraint.

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Section: Introductionmentioning

confidence: 99%

Interaction Motion Control on Tri-finger Pneumatic Grasper using Variable Convergence Rate Prescribed Performance Impedance Control with Pressure-based Force Estimator

Irawan

Azahar

Pebrianti

2022

Journal of Robotics and Control

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“…The manipulator is designed to achieve target points in the workspace by adjusting the robot joint angles to move the end-effector to the prescribed target [23]. The control schemes are presented to deliver the torque within limits [24]. Robotic arms certainly run into singular configurations during movement resulting in poor performance, thus discerning the singularities is extremely essential [25].…”

Section: Introductionmentioning

confidence: 99%

Design and Modeling of 9 Degrees of Freedom Redundant Robotic Manipulator

Anjum

Samo

Nighat

et al. 2022

Journal of Robotics and Control

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In disaster areas, robot manipulators are used to rescue and clearance of sites. Because of the damaged area, they encounter disturbances like obstacles, and limited workspace to explore the area and to achieve the location of the victims. Increasing the degrees of freedom is required to boost the adaptability of manipulators to avoid disturbances, and to obtain the fast desired position and precise movements of the end-effector. These robot manipulators offer a reliable way to handle the barrier challenges since they can search in places that humans can't reach. In this research paper, the 9-DOF robotic manipulator is designed, and an analytical model is developed to examine the system’s behavior in different scenarios. The kinematic and dynamic representation of the proposed model is analyzed to obtain the translation or rotation, and joint torques to achieve the expected position, velocity, and acceleration respectively. The number of degrees may be raised to avoid disturbances, and to obtain the fast desired position and precise movements of the end-effector. The simulation of developed models is performed to ensure the adaptable movement of the manipulators working in distinct configurations and controlling their motion thoroughly and effectively. In the proposed configuration the joints can easily be moved to achieve the desired position of the end-effector and the results are satisfactory. The simulation results show that the redundant manipulator achieves the victim location with various configurations of the manipulator. Results reveal the effectiveness and efficacy of the proposed system.

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