Offset-Free MPC for Resource Sharing on a Nonlinear SCARA Robot

Bianchi, Mattia; Maas, A. van der; Maljaars, E.; Heemels, W.P.M.H.

doi:10.1016/j.ifacol.2018.11.024

Cited by 2 publications

(3 citation statements)

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“…which is the approximately linearized model of the dynamics of the system of Eq. (15). The term f (x * ) + g(x * )u * is the derivative of the state vector at (x * , u * ) which is almost annihilated by −Ax * .…”

Section: Linearization Of the Robot's Dynamicsmentioning

confidence: 99%

“…Parameter d 1 stands for the linearization error in the 4-DOF SCARA robot's model that was given previously in Eq. (15). The reference setpoints for the state vector of the aforementioned dynamic model are denoted by…”

Section: Design Of An H-infinity Nonlinear Feedback Controller 41 Equ...mentioning

confidence: 99%

“…The rapid development of the Computer, Communication and Consumer Electronics Industry (3C industry) has led also to the spread of the use of SCARA robots [6][7][8][9][10]. SCARA robots exhibit agility in assembly tasks for the 3C industry and particularly in the fabrication of electronic devices, as well as in welding, handling of objects, and pick and place tasks with high speed, short time-cycle, accurate path following, and in general much flexible operation [11][12][13][14][15]. Of course, to achieve the precise execution of such tasks SCARA robots have to be equipped with computationally powerful microprocessors and have to be also supplied with elaborated nonlinear control algorithms [16][17][18][19][20].…”

Section: Introductionmentioning

confidence: 99%

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Nonlinear optimal control for a 4-DOF SCARA robotic manipulator

et al. 2023

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Selective compliance articulated robot arms (SCARA) robotic manipulators find wide use in industry. A nonlinear optimal control approach is proposed for the dynamic model of the 4-degrees of freedom (DOF) SCARA robotic manipulator. The dynamic model of the SCARA robot undergoes approximate linearization around a temporary operating point that is recomputed at each time-step of the control method. The linearization relies on Taylor series expansion and on the associated Jacobian matrices. For the linearized state-space model of the system, a stabilizing optimal (H-infinity) feedback controller is designed. To compute the controller’s feedback gains, an algebraic Riccati equation is repetitively solved at each iteration of the control algorithm. The stability properties of the control method are proven through Lyapunov analysis. The proposed control method is advantageous because: (i) unlike the popular computed torque method for robotic manipulators, it is characterized by optimality and is also applicable when the number of control inputs is not equal to the robot’s number of DOFs and (ii) it achieves fast and accurate tracking of reference setpoints under minimal energy consumption by the robot’s actuators. The nonlinear optimal controller for the 4-DOF SCARA robot is finally compared against a flatness-based controller implemented in successive loops.

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Section: Linearization Of the Robot's Dynamicsmentioning

confidence: 99%

Section: Design Of An H-infinity Nonlinear Feedback Controller 41 Equ...mentioning

confidence: 99%