Sampled Adaptive Control for Multi-joint Robotic Manipulator with Force Uncertainties

In this paper, we propose a novel coordinated control method based on decoupling servo control to design a 4-DOF direct-drive SCARA robot for wafer handling purpose. As the basis of decoupling servo control, the dynamic model of the SCARA robot is obtained with two methods, the Newton-Euler equation, and Lagrangian equation. The validity of this SCARA dynamic equation is confirmed by these two methods. Due to disturbance and model uncertainty, three PD plus robust controllers are individually applied to three axes of the SCARA robot, together with decoupling control on three physically dynamically highly coupled robotic arms. The inverse dynamics of the SCARA robot is analyzed by feedback linearization, and the experimental results show that above PD plus robust controllers and decoupling control reduce the position tracking error effectively. Performance meets with the high speed and high precision requirements in the wafer handling process. The experimental data shows that the decoupling control algorithm makes the SCARA robot performance improved a lot. The position errors during dynamic tracking movement and the static errors are reduced by 4 to 20 times.

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“…With Eqs. 14, (15), (16) and 17, the dynamic model of the SCARA robot can be expressed through Eqs. (18) to (36)…”

Section: B Dynamic Modelmentioning

confidence: 99%

“…adaptive control [14]- [16], neural network [17]- [19], backstepping method [20], [21], artificial intelligence [22], etc. The work of Son et al [23] proposes a control system combining adaptively feed-forward neural controller and PID controller.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling, Simulation, and Experimental Verification of a Wafer Handling SCARA Robot With Decoupling Servo Control

Mai

Cui

et al. 2019

IEEE Access

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Motion Control of 6-DOF Manipulator Based on EtherCAT

Li¹,

Ma²,

Fei³

et al. 2018

JACIII

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We introduce a real-time motion control system that uses the EtherCAT protocol and apply it to a manipulator with six degrees of freedom. The complexity of a multi-joint manipulator leads to higher requirements for synchronous and real-time performance. EtherCAT technology can greatly improve the performance in terms of accuracy, speed, capability, and band width in industrial control, which is crucial in our robot projects. In this paper, we discuss a servo motion control system based on EtherCAT using IgH as the open-source master station. A Linux operating system is adopted because of the advantages of open-source, high-efficiency, and high-stability operation as well as multi-platform support, which provide more flexibility, freedom, and extendability to developers. Considerable research has been conducted to explore EtherCAT technologies, completely implementing home-made codes with the aid of open-source libraries, debugging the master-slave communication process, and testing the resulting motion controller running on Linux or POSIX-compatible operating systems. To improve the real-time response of servo control, a real-time Xenomai kernel has been compiled, adopted, and tested, and it showed significant enhancement of the real time of a servo motion control system. Furthermore, we explore trajectory planning and inverse kinematic solutions. A trajectory planning method based on B-spline interpolation of three degrees, which makes each part of the trajectory planning curve have relative independence and continuity, is proposed for the kinematic trajectory planning problem in Cartesian space. A coordinate system is established using the modified D-H parameters method to obtain the inverse kinematics of the manipulator. The simulation and experimental results show that the calculation speed of inverse solutions is excellent and the motion of the manipulator is continuous and smooth.

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Discrete Adaptive Control with Multiple-Step-Guess Estimation for Brushless DC Motor

Shao

Zhu

et al. 2019

JACIII

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The brushless DC motor (BLDCM) speed control system has various kinds of uncertainties, such as reference speed mutation, noise and parameters change, etc. However, proportional integral (PI) control method used widely cannot handle the uncertainties in the control system well. A novel discrete adaptive control with Multiple-Step-Guess (MSG) estimation for BLDCM speed control system is proposed in this contribution. MSG estimation is firstly developed and applied in BLDCM speed control system, which estimate the BLDCM model parameters online with only five steps history information sampled from the input signal and output signal. The tracking adaptive control law is designed to ensure the speed can track reference speed rapidly and accurately. Compared with PI control and recursive least square adaptive control (RLSAC), extensive simulations verify that the BLDCM speed response under MSG adaptive control (MSGAC) has better dynamic and steady state performance in the case of reference speed mutation and BLDCM parameters change. Simulation results illustrate that the novel proposed method is effective and robust for uncertainties of BLDCM speed control system.

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Sampled Adaptive Control for Multi-joint Robotic Manipulator with Force Uncertainties

Cited by 3 publications

References 15 publications

Dynamic Modeling, Simulation, and Experimental Verification of a Wafer Handling SCARA Robot With Decoupling Servo Control

Dynamic Modeling, Simulation, and Experimental Verification of a Wafer Handling SCARA Robot With Decoupling Servo Control

Motion Control of 6-DOF Manipulator Based on EtherCAT

Discrete Adaptive Control with Multiple-Step-Guess Estimation for Brushless DC Motor

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