Joint acceleration feedback control for robots: analysis, sensing and experiments

Wang, Xu; Han, Jianda

doi:10.1016/s0736-5845(00)00010-7

Cited by 26 publications

(8 citation statements)

References 17 publications

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“…Then, 24 can be solved using the third equation of (22) immediately. Then, 6 can be solved using (20). Then, 8 can be solved using the second equation of (22).…”

Section: Inverse Kinematicsmentioning

confidence: 99%

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The Automatic Drilling System of 6R-2P Mining Drill Jumbos

Wang

Fang

Jiang

et al. 2014

Advances in Mechanical Engineering

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In order to improve the efficiency of underground mining and tunneling operations and to realize automatic drilling, it is necessary to develop the automation system for large drill jumbos. This work focuses on one such mining drill jumbo which is actually a redundant robotic manipulator with eight degrees of freedom, because it has six revolute joints and two prismatic joints. To realize the autonomous drilling operation, algorithms are proposed to calculate the desired pose of the end-effector and to solve the inverse kinematics of the drill jumbo, which is one of the key issues for developing the automation system. After that, a control strategy is proposed to independently control the eight joint variables using PID feedback control approaches. The simulation model is developed in Simulink. As the closed-loop controllers corresponding to all joints are local and independent of each other, the whole system is not a closed-loop feedback control. In order to estimate the possible maximal pose error, the analysis of the pose error caused by the errors of the joint variables is conducted. The results are satisfactory for mining applications and the developed automation system is being applied in the drill jumbos built by Mining Technologies International Inc.

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“…Then, 24 can be solved using the third equation of (22) immediately. Then, 6 can be solved using (20). Then, 8 can be solved using the second equation of (22).…”

Section: Inverse Kinematicsmentioning

confidence: 99%

“…In robotics, independent joint control is widely used in the motion control of robots [18][19][20][21]. Different researchers' control algorithms could be different from one to the other.…”

Section: Introductionmentioning

confidence: 99%

The Automatic Drilling System of 6R-2P Mining Drill Jumbos

Wang

Fang

Jiang

et al. 2014

Advances in Mechanical Engineering

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“…The linearised model makes it possible to use decentralised control, hence H ∞ loop shaping is applied to n siso-systems instead of the complete mimo-system. Explicit use of acceleration measurements for control in robotic applications has been reported in, for example, de Jager [1993], Dumetz et al [2006], Kosuge et al [1989], Readman and Bélanger [1991] and Xu and Han [2000]. In Dumetz et al [2006], a control law using motor position and acceleration of the load in the feedback loop is proposed for a Cartesian robot 1 .…”

Section: Introductionmentioning

confidence: 99%

“…The use of direct measurements of the angular acceleration in the feedback loop is presented in Readman and Bélanger [1991] for both rigid and flexible joint models. A more recent work is presented in Xu and Han [2000], where a 3-dof manipulator is controlled using only measurements of the end-effector acceleration.…”

Section: Introductionmentioning

confidence: 99%

ℋ∞-Controller Design Methods Applied to One Joint of a Flexible Industrial Manipulator

Axelsson

Helmersson

Norrlöf

2014

IFAC Proceedings Volumes

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Control of a flexible joint of an industrial manipulator using H ∞ design methods is presented. The considered design methods are i) mixed-H ∞ design, and ii) H ∞ loop shaping design. Two different controller configurations are examined: one uses only the actuator position, while the other uses the actuator position and the acceleration of the end-effector. The four resulting controllers are compared to a standard pid controller where only the actuator position is measured. The choices of the weighting functions are discussed in details. For the loop shaping design method, the acceleration measurement is required to improve the performance compared to the pid controller. For the mixed-H ∞ method it is enough to have only the actuator position to get an improved performance. Model order reduction of the controllers is briefly discussed, which is important for implementation of the controllers in the robot control system.

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“…He then considered the case of a single degree of freedom oscillator and extended the results to SISO systems with many modes and to MIMO systems. Han et al [34] and Xu et al [35] have conducted experiments on acceleration sensor based robust control for robots to improve the control accuracy of the trajectory tracking. Dumetz et al [36] applied motor-position-based PD combined with positive acceleration feedback algorithm to control the axis of an industrial robot.…”

Section: Introductionmentioning

confidence: 99%