Self-Tuning Fuzzy Task Space Controller for Puma 560 Robot

Azarfar, Azita; Azarfar, Babak; Vahedi, Mojtaba

doi:10.1007/s42835-020-00576-6

Cited by 6 publications

(2 citation statements)

References 17 publications

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“…These error vectors can be computed using a series of mathematical formulas, including Equations ( 15)- (22). Simultaneously, the inverse kinematic equations can be solved through Equation ( 2), while the overall inverse dynamics can be calculated using Equation (11). Furthermore, the value of J(x) is obtained by solving Equation (4).…”

Section: Formulation Of Synchronization Controller With Dynamics Comp...mentioning

confidence: 99%

“…Currently, many scholars focus on controller design for platform motion control, primarily in both task space [9] and joint space [10]. Considering that the planned motion trajectory is established in task space, the motion error of the platform in task space more accurately reflects the processing accuracy of the workpiece compared to the tracking error in joint space [11]. Therefore, designing a controller in task space can facilitate the development process to be more convenient and flexible.…”

Section: Introductionmentioning

confidence: 99%

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Synchronization Control with Dynamics Compensation for Three-Axis Parallel Motion Platform

Zhou,

Gao,

Zhang

2024

Actuators

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The three-axis parallel motion platform (TAPMP) with a common stator has low motion inertia, enabling highly precise and high-speed motion over a large range of strokes. The primary challenge faced by the TAPMP lies in the mutual pulling exerted between the common stator motors during motion. The driving forces generated by the motors are closely associated with their synchronization motion, a connection often overlooked in the design of existing controllers. To address this issue, this paper presents a novel synchronization controller with dynamics compensation (SC–DC) to achieve motion synchronization between the three motors, ultimately enhancing the platform’s tracking accuracy in task space. In this SC–DC method, the synchronization error of the common stator motors is introduced to represent the synchronized motion relationship between adjacent motors, and a dynamic feedforward control is adopted to compensate for the motor’s driving force. The stability of the proposed controller is analyzed using Lyapunov theory, demonstrating the convergence of both the tracking error and synchronization error. Trajectory tracking simulations and experimental studies are conducted on the TAPMP. The results show that, compared to the augmented proportional-derivative controller with dynamic compensation, the proposed controller significantly reduces both the MAE of the tracking error and synchronization error on the q1 motor by 71.88% and 73.02%, respectively, demonstrating its performance advantages in trajectory tracking and synchronization.

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Section: Formulation Of Synchronization Controller With Dynamics Comp...mentioning

confidence: 99%