Optimal and Robust Control of Multi DOF Robotic Manipulator: Design and Hardware Realization

Ajwad, Syed Ali; Iqbal, Jamshed; Islam, Raza Ul; Alsheikhy, Ahmed A.; Almeshal, Abdullah M.; Mehmood, Adeel

doi:10.1080/01969722.2017.1412905

Cited by 56 publications

(43 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Some classical control methods, such as proportional-integral-derivative (PID) control, which have been studied and practiced by broad researches, are very effective solutions for uncomplicated linear time-invariant systems [49][50][51]. In addition, modern control theory, such as sliding mode control, based on state variables has also been widely used to solve linear or nonlinear, and time-invariant or time-varying multi-input multi-output (MIMO) systems [52][53][54]. Although this kind of classical and modern control theory can overcome some internal disturbances of the control system, nevertheless, it is neither sufficient to ensure the stability of robotic deburring process in a robust enough way in real time, nor able to cope with environmental uncertainties.…”

Section: Robotic Deburring Process Parameter Control Methods Based On mentioning

confidence: 99%

A Robotic Deburring Methodology for Tool Path Planning and Process Parameter Control of a Five-Degree-of-Freedom Robot Manipulator

Guo

Zhu

et al. 2019

Applied Sciences

View full text Add to dashboard Cite

Industrial robotics is a continuously developing domain, as industrial robots have demonstrated to possess benefits with regard to robotic automation solutions in the industrial automation field. In this article, a new robotic deburring methodology for tool path planning and process parameter control is presented for a newly developed five-degree-of-freedom hybrid robot manipulator. A hybrid robot manipulator with dexterous manipulation and two experimental platforms of robot manipulators are presented. A robotic deburring tool path planning method is proposed for the robotic deburring tool position and orientation planning and the robotic layered deburring planning. Also, a robotic deburring process parameter control method is proposed based on fuzzy control. Furthermore, a dexterous manipulation verification experiment is conducted to demonstrate the dexterous manipulation and the orientation reachability of the robot manipulator. Additionally, two robotic deburring experiments are conducted to verify the effectiveness of the two proposed methods and demonstrate the highly efficient and dexterous manipulation and deburring capacity of the robot manipulator.

show abstract

Section: Robotic Deburring Process Parameter Control Methods Based On mentioning

confidence: 99%

A Robotic Deburring Methodology for Tool Path Planning and Process Parameter Control of a Five-Degree-of-Freedom Robot Manipulator

Guo

Zhu

et al. 2019

Applied Sciences

View full text Add to dashboard Cite

show abstract

“…However, this results in degradation of the dynamic performance due to accumulation of the masses in motion. Consequently, parallel robots attract a great attention in robotics and mechatronics community owing to their distinguishing features compared with other robot types such as serial robots (Ajwad et al, 2018). Superior accuracy in object manipulation, high compactness and rigidity in parallel robots lead to vast dynamics capabilities, thus making them a best choice in several application areas.…”

Section: Introductionmentioning

confidence: 99%

On the improvement of calibration accuracy of parallel robots – modeling and optimization

Bentaleb¹,

Iqbal²

2020

Journal of Theoretical and Applied Mechanics

Self Cite

View full text Add to dashboard Cite

This paper proposes kinematic based calibration methods for Delta parallel robots. The boundary of the robot workspace is computed using a forward kinematic model. Influence of errors in kinematic parameters on the workspace boundaries is investigated. The novelty of the proposed approach lies in Jacobian-based computation of kinematic models. Also, the present work extends and applies the existing calibration methods traditionally meant for serial robots on the Delta robot. These methods include the forward method and the inverse method. Simulation results confirm the efficacy of the proposed calibration strategies.

show abstract

“…Autonomous robots are widely used in smart factories to enhance productivity and product quality [1,2]. Robotic manipulators are one of the operational robots that have been frequently installed in manufacturing plants due to their capability of performing various complex tasks, such as welding, painting, and assembling in any conditions [3]. However, robotic manipulators inherit nonlinear features, high coupling-effects, and parametric uncertainties [3][4][5].…”

Section: Introductionmentioning

confidence: 99%

“…Robotic manipulators are one of the operational robots that have been frequently installed in manufacturing plants due to their capability of performing various complex tasks, such as welding, painting, and assembling in any conditions [3]. However, robotic manipulators inherit nonlinear features, high coupling-effects, and parametric uncertainties [3][4][5]. Based on the aforementioned characteristics of robotic manipulators, designing prominent robust position tracking control is a challenging task for a control designer.…”

Section: Introductionmentioning

confidence: 99%

“…As many researchers have studied the position tracking problem, various modern controls have been developed to satisfy tracking performance, such as model predictive control (MPC) [20], computed torque control (CTC) [21], adaptive control [22,23], and sliding mode control (SMC), as in [3,24]. In comparison to CTC, MPC offers low sensitivity against model imperfection.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A Comparative Study of LQR and Integral Sliding Mode Control Strategies for Position Tracking Control of Robotic Manipulators

Norsahperi

Danapalasingam

2020

Int. j. electr. comput. eng. syst. (Online)

View full text Add to dashboard Cite

This paper provides a systematic comparative study of position tracking control of nonlinear robotic manipulators. The main contribution of this study is a comprehensive numerical simulation assessing position tracking performances and energy consumption of integral sliding mode control (ISMC), a linear-quadratic regulator with integral action (LQRT ), and optimal integral sliding mode control (OISMC) under three conditions; namely, Case I) without the coupling effect, Case II) with the coupling effect on Link 1 only, and Case III) with the coupling effect on Link 2 only. The viability of the concept is evaluated based on three performance criteria, i.e., the step-response characteristics, position tracking error, and energy consumption of the aforementioned controllers. Based upon the simulation study, it has been found that OISMC offers performances almost similar to ISMC with more than 90% improvement of tracking performance under several cases compared to LQRT; however, energy consumption is successfully reduced by 3.6% in comparison to ISMC. Energy consumption of OISMC can be further reduced by applying optimization algorithms in tuning the weighting matrices. This paper can be considered significant as a robotic system with high tracking accuracy and low energy consumption is highly demanded to be implemented in smart factories, especially for autonomous systems.

show abstract

Optimal and Robust Control of Multi DOF Robotic Manipulator: Design and Hardware Realization

Cited by 56 publications

References 23 publications

A Robotic Deburring Methodology for Tool Path Planning and Process Parameter Control of a Five-Degree-of-Freedom Robot Manipulator

A Robotic Deburring Methodology for Tool Path Planning and Process Parameter Control of a Five-Degree-of-Freedom Robot Manipulator

On the improvement of calibration accuracy of parallel robots – modeling and optimization

A Comparative Study of LQR and Integral Sliding Mode Control Strategies for Position Tracking Control of Robotic Manipulators

Contact Info

Product

Resources

About