Control strategies for robotic manipulators

This survey is aimed at presenting the major robust control strategies for rigid robot manipulators. The techniques discussed are feedback linearization/Computed torque control, Variable structure compensator, Passivity based approach and Disturbance observer based control. The first one is based on complete dynamic model of a robot. It results in simple linear control which offers guaranteed stability. Variable structure compensator uses a switching/relay action to overcome dynamic uncertainties and disturbances. Passivity based controller make use of passive structure of a robot. If passivity of a feedback system is proved, nonlinearities and uncertainties will not affect the stability. Disturbance observer based controllers estimate disturbances, which can be cancelled out to achieve a nominal model, for which a simple controller can then be designed. This paper, after explaining each control strategy in detail, finally compares these strategies for their pros and cons. Possible solutions to cope with the drawbacks have also been presented in tabular form. © 2012 IEEE

Decentralized adaptive partitioned approximation control of high degrees-of-freedom robotic manipulators considering three actuator control modes

International audiencePartitioned approximation control is avoided in most decentralized control algorithms; however, it is essential to design a feedforward control term for improving the tracking accuracy of the desired references. In addition, consideration of actuator dynamics is important for a robot with high-velocity movement and highly varying loads. As a result, this work is focused on decentralized adaptive partitioned approximation control for complex robotic systems using the orthogonal basis functions as strong approximators. In essence, the partitioned approximation technique is intrinsically decentralized with some modifications. Three actuator control modes are considered in this study: (i) a torque control mode in which the armature current is well controlled by a current servo amplifier and the motor torque/current constant is known, (ii) a current control mode in which the torque/current constant is unknown, and (iii) a voltage control mode with no current servo control being available. The proposed decentralized control law consists of three terms: the partitioned approximation-based feedforward term that is necessary for precise tracking, the high gain-based feedback term, and the adaptive sliding gain-based term for compensation of modeling error. The passivity property is essential to prove the stability of local stability of the individual subsystem with guaranteed global stability. Two case studies are used to prove the validity of the proposed controller: a two-link manipulator and a six-link biped robot

Adaptive Fuzzy Control of Puma Robot Manipulator in Task Space with Unknown Dynamic and Uncertain Kinematic

A In this paper, an adaptive direct fuzzy control system is presented to control the robot manipulator in task space. It is assumed that robot system has unknown dynamic and uncertain kinematic. The control system and adaption mechanism are firstly designed for joint space tracking. Then by using inverse Jacobian strategy, it is generalized for task space. After that, to overcome the problem of Jacobian matrix uncertainty, an improved adaptive control system is designed. All the design steps are illustrated by simulations

Adaptive fuzzy sliding mode algorithm-based decentralised control for a permanent magnet spherical actuator

<p>The dynamic model of multi-degree-of-freedom permanent magnet (PM) spherical actuators is multivariate and nonlinear due to strong inter-axis couplings, which affects the trajectory tracking performance of the system. In this paper, a decentralised control strategy based on adaptive fuzzy sliding mode (AFSM) algorithm is developed for a PM spherical actuator to enhance its trajectory tracking performance. In this algorithm, the coupling terms are separated as subsystems from the entire system. The AFSM algorithm is applied in such a way that the fuzzy logic systems are used to approximate the subsystem with uncertainties. A sliding mode term is introduced to compensate for the effect of coupling terms and fuzzy approximation error. The stability of the proposed method is guaranteed by choosing the appropriate Lyapunov function. Both simulation and experimental results show that the proposed control algorithm can effectively handle various uncertainties and inter-axis couplings, and improve the trajectory tracking precision of the spherical actuator.</p

Contact force control in the robot end-point

AbstractThe end-point stiffness of a robot kinematic chain represents the crucial problem in force control. Within the period of the force generation, regardless of the drive type, due to inherent torque feedback the oscillations of the controlled force appear. For technologies with the constant contact force generation, the paper presents an effective linear control structure taking the physical limitation of the system’s inner variables into account. A numerical model of one degree of freedom verifies the proposed control algorithm

Proceedings of the NASA Conference on Space Telerobotics, volume 4

Papers presented at the NASA Conference on Space Telerobotics are compiled. The theme of the conference was man-machine collaboration in space. The conference provided a forum for researchers and engineers to exchange ideas on the research and development required for the application of telerobotic technology to the space systems planned for the 1990's and beyond. Volume 4 contains papers related to the following subject areas: manipulator control; telemanipulation; flight experiments (systems and simulators); sensor-based planning; robot kinematics, dynamics, and control; robot task planning and assembly; and research activities at the NASA Langley Research Center

Coordinated multi-robot formation control

Tese de doutoramento. Engenharia Electrotécnica e de Computadores. Faculdade de Engenharia. Universidade do Porto. 201