Kinematics, Dynamics and Control Design for a 4-DOF Robotic Manipulator

Nguyen, Thien-Quang; Phan, Van-Truong; Vo, Duy-Thien; Trinh, Van-Hoang; Nguyen, Hoang-Viet; Tran, Manh-Son; Tran, Duc Thien

doi:10.1109/icsse52999.2021.9538418

Cited by 8 publications

(1 citation statement)

References 14 publications

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“…The forward kinematics is solved using the standard Denavit-Hartenberg (DH) method [24][25][26]. The coordinate system of the CDHR robot is illustrated in Figure 5.…”

Section: Slave Devicementioning

confidence: 99%

Development of a Hardware-in-the-Loop Platform for a Teleoperation Flexibility Robotic System

Tran,

Nguyen,

Tran

et al. 2024

Applied Sciences

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A control method for a cable-driven robot in a teleoperation system is proposed using the hardware-in-the-loop (HIL) simulation technique. The main components of the teleoperated robotic system are a haptic device, also called a delta robot, and a cable-driven hyper-redundant (CDHR) robot. The CDHR manipulator has higher flexibility and multiple degrees of freedom (DOF), and, therefore, its inverse kinematics are complex. For this reason, the Jacobian method is used in place of the conventional method to calculate the inverse kinematics. Moreover, the two robots constituting the telerobotic system are different in terms of their mechanical structures and workspaces. Therefore, the position mapping method is applied to ensure that the two workspaces are utilized together. However, a singularity area appears when the mapping parameter is adjusted to expand the workspace. Therefore, a haptic algorithm is proposed to prevent the robot from moving into the singularity region and generate force feedback at the end-effector of the haptic device to warn the operator. Because experimental verification of this control strategy is difficult, the HIL technique is used for demonstration in this study to ensure stability and safety before implementation of the method at the experiment scale. The CDHR robot is designed using SolidWorks 2021. Then, the Simscape model is used to simulate the telerobotic system. In addition, the protocol between the haptic device and the laptop is programmed using C/C++ language to facilitate communication with the CDHR robot in MATLAB Simulink 2022a. A few trials are conducted to evaluate and demonstrate the effectiveness of the proposed method.

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“…The forward kinematics is solved using the standard Denavit-Hartenberg (DH) method [24][25][26]. The coordinate system of the CDHR robot is illustrated in Figure 5.…”

Section: Slave Devicementioning

confidence: 99%

Development of a Hardware-in-the-Loop Platform for a Teleoperation Flexibility Robotic System

Tran,

Nguyen,

Tran

et al. 2024

Applied Sciences

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A novel hybrid observer‐based model‐free adaptive high‐order terminal sliding mode control for robot manipulators with prescribed performance

Zha,

Wang,

Tian

et al. 2024

Intl J Robust & Nonlinear

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Although widely used in industrial applications, strong nonlinearity and coupling, high computational complexity prevent high precision tracking control of manipulator. In this paper, to overcome the rely on system model and achieve prescribed convergence, a novel hybrid observer‐based model‐free adaptive high‐order fast terminal sliding model control scheme (HO‐MHTSMC) with prescribed performance is proposed for trajectory tracking control of robot manipulators in the existence of friction and external disturbance. The ultra‐local model is used to approximate the original complex system in a model free form in a short sliding time window, which avoid the accurate modeling of the manipulator system. To compensate for the lumped uncertainties, a hybrid observer based on adaptive time‐delay estimation and adaptive second order sliding mode observer (SOSM) is proposed to achieve finite‐time observation and zero estimation error. Besides, a transformation using prescribed performance function is applied to the system to ensure the transient and steady‐state performance of the trajectory tracking in joint space. Furthermore, a high‐order fast terminal sliding mode control algorithm with backstepping control strategy is used to stabilize the whole system and reduce the chattering problem in conventional sliding mode control. The stability analysis of the system is provided by Lyapunov theorem. Finally, numerical study and co‐simulations show that the proposed control scheme has better performance in tracking accuracy and robustness compared with conventional control schemes.

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A Nonsingular Terminal Sliding Mode Control for a 6DOF Manipulator with Unknown Payloads

Tong,

Nguyen,

et al. 2024

Lecture Notes in Networks and Systems

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Kinematics, Dynamics and Control Design for a 4-DOF Robotic Manipulator

Cited by 8 publications

References 14 publications

Development of a Hardware-in-the-Loop Platform for a Teleoperation Flexibility Robotic System

Development of a Hardware-in-the-Loop Platform for a Teleoperation Flexibility Robotic System

A novel hybrid observer‐based model‐free adaptive high‐order terminal sliding mode control for robot manipulators with prescribed performance

A Nonsingular Terminal Sliding Mode Control for a 6DOF Manipulator with Unknown Payloads

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