Robust control of Scara manipulator

This paper presents a Takagi-Sugeno fuzzy descriptor approach for nonlinear control of a 2-DoF serial manipulator. The design goal is to achieve high tracking performance in case of circular trajectory while significantly reducing the numerical complexity of the designed controller through an original robust control scheme. Based on Lyapunov stability theory, the control design is reformulated as an LMI (linear matrix inequality) optimization which can be easily solved with available solvers. Simulation results carried out with SimMechanics environment clearly demonstrate the effectiveness of the proposed control approach.

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“…Based on the Euler-Lagrange principle, the nonlinear dynamics of a serial 2-DoF robot is expressed as follows [18]:…”

Section: System Modelingmentioning

confidence: 99%

“…In this work, a T-S fuzzy descriptor control approach is proposed for circular trajectory tracking of a 2-DoF serial manipulator [8], [18]. The dynamics of this type of robot is highly nonlinear which represents a challenging control problem.…”

Section: Introductionmentioning

confidence: 99%

Takagi-Sugeno fuzzy descriptor approach for trajectory control of a 2-DOF serial manipulator

Nguyen¹,

Vermeiren²,

Dequidt³

et al. 2018

2018 13th IEEE Conference on Industrial Electronics and Applications (ICIEA)

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“…1 (see Fig. 4), but it presents many differences with respect to a classic SCARA robot [4][5][6][7][8], since with the aim of being over-actuated, it has a joint configuration of the RRRPRP kind, instead of the RRPRRP configuration of a classic SCARA robot. By being over-actuated, this robot can be used to investigate fault-tolerant control techniques, among other issues.…”

Section: Scara Robot #mentioning

confidence: 99%

“…The Denavit-Hartenberg table [2][3][4][8][9][10]13] is used to determine the position and orientation of each joint of the robot, but holds no information about the centers of mass; hence it cannot be used as a unique input that represents all the robot's morphology information needed for the application of the LagrangeEuler method.…”

Section: Dynamic Model Generation Algorithmmentioning

confidence: 99%

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Design and implementation of a graphic 3D simulator for the study of control techniques applied to cooperative robots

Urrea

Coltters

2015

Int. J. Control Autom. Syst.

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A new methodology is proposed for the design and implementation of three-dimensional simulations of manipulator robots, in individual as well as cooperative tasks, using several programming and 3D-design tools. To obtain easily the dynamic-mathematical models of movement for the represented systems, regardless of the kind of manipulator robot to be considered, the development of a computer algorithm is also presented. Besides, through the use of the Bullet library, we incorporated the detection of collisions between constitutive elements of the system, considering elements external to the robots, collisions between links of the same robot, or between two robots. Using a C++ programming platform, we also designed and implemented a flexible and intuitive graphic user interface. The dynamic-mathematical performance of the cooperative interaction between two actual robots, designed and implemented in the Departamento de Ingeniería Eléctrica of the Universidad de Santiago de Chile (DIE-UdeSantiago de Chile), was modeled, plotted and three-dimensionally simulated, by using the new algorithm proposed for this purpose. Finally, the performance results are presented and analyzed.

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T-S Fuzzy Control with Descriptor Model and High Gain Observer for a Serial Robot Manipulator

Nguyen,

Dao

2023

2023 12th International Conference on Control, Automation and Information Sciences (ICCAIS)

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Robust control of Scara manipulator

Cited by 3 publications

References 2 publications

Takagi-Sugeno fuzzy descriptor approach for trajectory control of a 2-DOF serial manipulator

Takagi-Sugeno fuzzy descriptor approach for trajectory control of a 2-DOF serial manipulator

Design and implementation of a graphic 3D simulator for the study of control techniques applied to cooperative robots

T-S Fuzzy Control with Descriptor Model and High Gain Observer for a Serial Robot Manipulator

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