KENDALI VISUAL DUAL ARM ROBOT MENGGUNAKAN PENDEKATAN CENTER OF GRAVITY

The robot arm is very popular in the world of robotics for the future. Robot arm has several different kinds of functions. Where the robot arm in addition to functioning as a human arm, also serves as a tool in the industry, robot manipulators. In this final project will be made a Dual Arm Robot with ten degrees of freedom where there are five degrees of freedom in each arm. Dual Arm Robot Control requires that appropriate controls so that the movement of Dual Arm Robot move well and achieve the expected goals, as well as providing a bit error in the system. Therefore Control of Dual Robot Arm using web cameras can produce X and Y axis position on the detection of color. Control of Dual Robot Arm using a web camera when the data already obtained form the midpoint of the X and Y axes of the color detection using OpenCV, Dual Arm Robot to follow the movement the position of the colored object detection. Keywords: Dual Arm Robot, Web Camera, and OpenC

Anti-Sway Control for Haptic Crane for Application of Material Handling by Using Active Force Control (AFC)

This paper focuses on anti-sway control system for haptic crane that uses accelerometer and weight sensor as sway sensor and mass calculation of payload. The control method proposed is AFC which is able to control more accurate and robust while transport the payload to another location and at the end of the movement as fast and as accurate as possible. To do this the dynamic mathematical model of the crane is introduced. The result shows that the addition of weight sensor and accelerometer as an additional parameter in AFC loop calculation in the hook gives better performance even with several disturbances than the PID control

DESIGN AND REALIZATION OF A HAPTIC CRANE FORCE CONTROL FOR APPLICATION OF MATERIAL HANDLING BY USING ACTIVE FORCE CONTROL (AFC)

The final project highlights a method for controlling a haptic crane and hoist model based on an Active Force Control (AFC) strategy. It is a disturbance rejection control technique in which AFC is employed to control accurately and robustly the trolley part of the crane along a desired path, compensating at the same time the payload sway at the end of the traversed motion. AFC is designed and implemented using a two degree-of-freedom controller-the outer classic Proportional-Integral- Derivative (PID) control loop provides the commanded signal while the internal AFC loop accommodates the known and unknown disturbances present in the crane and hoist system. Results from the simulation clearly show that the crane can perform its predefined task faster with a minimum payload sway angle compared to the PID control method. Result from experiment on the plant is difficult to differentiate which control method is better since both of them show the same swing angle and time to reach the reference position. This is due to the pulse generated by the microcontroller is the same between two controllers, but AFC control shows better result in accuracy of reaching the reference position with smaller error than PID control. Keywords: active force control (AFC), disturbance rejection, PID control, haptic crane and hois

An improved marine predators algorithm tuned data-driven multiple-node hormone regulation neuroendocrine-PID controller for multi-input–multi-output gantry crane system

Conventionally, researchers have favored the model-based control scheme for controlling gantry crane systems. However, this method necessitates a substantial investment of time and resources in order to develop an accurate mathematical model of the complex crane system. Recognizing this challenge, the current paper introduces a novel data-driven control scheme that relies exclusively on input and output data. Undertaking a couple of modifications to the conventional marine predators algorithm (MPA), random average marine predators algorithm (RAMPA) with tunable adaptive coefficient to control the step size ( CF) has been proposed in this paper as an enhanced alternative towards fine-tuning data-driven multiple-node hormone regulation neuroendocrine-PID (MnHR-NEPID) controller parameters for the multi-input–multi-output (MIMO) gantry crane system. First modification involved a random average location calculation within the algorithm’s updating mechanism to solve the local optima issue. The second modification then introduced tunable CF that enhanced search capacity by enabling users’ resilience towards attaining an offsetting level of exploration and exploitation phases. Effectiveness of the proposed method is evaluated based on the convergence curve and statistical analysis of the fitness function, the total norms of error and input, Wilcoxon’s rank test, time response analysis, and robustness analysis under the influence of external disturbance. Comparative findings alongside other existing metaheuristic-based algorithms confirmed excellence of the proposed method through its superior performance against the conventional MPA, particle swarm optimization (PSO), grey wolf optimizer (GWO), moth-flame optimization (MFO), multi-verse optimizer (MVO), sine-cosine algorithm (SCA), salp-swarm algorithm (SSA), slime mould algorithm (SMA), flow direction algorithm (FDA), and the formally published adaptive safe experimentation dynamics (ASED)-based methods

Fuzzy logic controlofgantry crane system

The use of gantry crane systems for transporting payload is very common in industrial application. However, moving the payload using the crane is not an easy task especially when strict specifications on the swing angle and on the transfer time need to be satisfied. To overcome this problem, an intelligent gantry crane system had been introduced. Fuzzy logic controllers were adopted, designed and implemented for controlling payload position as well as the swing angle of the gantry crane. Fuzzy logic defines rules that determine the behavior of the system using word descriptions instead of mathematical equations also fuzzy logic control algorithms can be used to solve problems that are difficult to address with traditional control techniques. Fuzzy control strategy is proposed to control the stability of crane work

Negative imaginary theorem with an application to robust control of a crane system

This paper presents an integral sliding mode (ISM) control for a case of negative imaginary (NI) systems. A gantry crane system (GCS) is considered in this work. ISM is a nonlinear control method introducing significant properties of precision, robustness, stress-free tuning and implementation. The GCS model considered in this work is derived based on the x direction and sway motion of the payload. The GCS is a negative imaginary (NI) system with a single pole at the origin. ISM consist of two blocks; the inner block made up of a pole placement controller (NI controller), designed using linear matrix inequality for robustness and outer block made up of sliding mode control to reject disturbances. The ISM is designed to control position tracking and anti-swing payload motion. The robustness of the control scheme is tested with an input disturbance of a sine wave signal. The simulation results show the effectiveness of the control scheme

Input-Shaped Model Reference Control Using Sliding Mode Design for Sway Suppression of An Industrial Overhead Crane

Input-shaped model reference control using sliding mode design is a proven method for controlling systems with parameter variations and disturbance. However, this method has never been reported for an industrial overhead crane, which is operated under nonlinear elements such as acceleration and deceleration limits caused by inverters for driving a crane in speed control mode. The successful implementation of this method will allow the crane to be operated in “hybrid mode”, which results in the fastest response from the feedforward control technique, unity magnitude zero vibration (UMZV) and tracking performance from the feedback control. This paper shows the implementation and experimental result of the input-shaped model reference control using sliding mode design for sway suppression of an industrial overhead crane. The control scheme was implemented on an industrial grade 1-ton overhead crane using a PLC and inverters. The experiments compared the control results of the UMZV and the presented control scheme on the industrial overhead crane in the cases that the system parameters are known and uncertain. When the parameters are uncertain, the presented method, with the feedback elements, provided the advantage of reducing residual vibration, while keeping the benefits of the UMZV performance

An improved marine predators algorithm tuned data-driven multiple-node hormone regulation neuroendocrine-PID controller for multi-input–multi-output gantry crane system

Conventionally, researchers have favored the model-based control scheme for controlling gantry crane systems. However, this method necessitates a substantial investment of time and resources in order to develop an accurate mathematical model of the complex crane system. Recognizing this challenge, the current paper introduces a novel data-driven control scheme that relies exclusively on input and output data. Undertaking a couple of modifications to the conventional marine predators algorithm (MPA), random average marine predators algorithm (RAMPA) with tunable adaptive coefficient to control the step size (CF) has been proposed in this paper as an enhanced alternative towards fine-tuning data-driven multiple-node hormone regulation neuroendocrine-PID (MnHR-NEPID) controller parameters for the multi-input–multi-output (MIMO) gantry crane system. First modification involved a random average location calculation within the algorithm’s updating mechanism to solve the local optima issue. The second modification then introduced tunable CF that enhanced search capacity by enabling users’ resilience towards attaining an offsetting level of exploration and exploitation phases. Effectiveness of the proposed method is evaluated based on the convergence curve and statistical analysis of the fitness function, the total norms of error and input, Wilcoxon’s rank test, time response analysis, and robustness analysis under the influence of external disturbance. Comparative findings alongside other existing metaheuristic-based algorithms confirmed excellence of the proposed method through its superior performance against the conventional MPA, particle swarm optimization (PSO), grey wolf optimizer (GWO), moth-flame optimization (MFO), multi-verse optimizer (MVO), sine-cosine algorithm (SCA), salp-swarm algorithm (SSA), slime mould algorithm (SMA), flow direction algorithm (FDA), and the formally published adaptive safe experimentation dynamics (ASED)-based methods

A Robust Offline Precomputed Optimal Feedforward Control Action for the Real Time Feedback/Feedforward Control of Double Pendulum Gantry Cranes

none1openvalentina orsiniOrsini, Valentin

Atenuación de efectos pendulares en grúas-torre usando control por rechazo activo de perturbaciones en tiempo discreto con observador resonante

En este artículo, se propone un esquema de control en tiempo discreto basado en el enfoque del rechazo activo de perturbaciones (ADR) para abordar el problema de control de oscilaciones en la carga de grúas-torre sujetas a incertidumbres paramétricas y perturbaciones externas. El esquema de control propuesto usa un observador extendido que incorpora un modelo interno resonante diseñado para mejorar la estimación de variables de estado y perturbaciones, en especial las provenientes de la oscilación de la carga. La ley de control se diseña para rechazar las perturbaciones en línea y acomodar la dinámica de lazo cerrado. La propuesta de control se valida experimentalmente en una grúa-torre a escala, y es comparado con un PI-vectorial y otro control basado en el enfoque ADR. Los resultados experimentales muestran que el esquema propuesto presenta mejor desempeño para reducir las oscilaciones en la carga y exhibe mejoras sustanciales en el rechazo de perturbaciones.In this paper, the problem of payload oscillations in tower-cranes subject to parametric uncertainties and external disturbances through a discrete-time Active Disturbance Rejection Control (ADRC) scheme is addressed. In the proposed control scheme, state and disturbance estimations are provided by an extended state observer which incorporates a resonant internal model designed to improve disturbance/state estimations specially those coming from the payload oscillation. Then, the control law is designed to reject the disturbances on-line and accommodate the closed-loop system dynamics. The control proposal is experimentally validated on a small-scale tower-crane, and compared to an observer-based PI controller and other ADRC scheme. The experimental results show that the proposed control scheme provides improved attenuation in the oscillations of the payload and exhibits substantial improvements in disturbance rejection properties