International Journal of Precision Engineering and Manufacturing

Korean Society for Precision Engineering (한국정밀공학회)
권호 표지

Control Strategy to Reduce Tracking Error by Impulsive Torques at the Joint

  • Yang Chulho (School of Mechanical Engineering, Andong National University)
  • Published : 2005.04.01
Download PDF
⟨ Previous Next ⟩

Abstract

The study reported deals with investigating the feasibility of control strategy for a serial rigid link manipulator that applies impulsive torques at the joints. The strategy is illustrated for a planar three rigid link manipulator. An impulse-based concept which uses successive torque impulses on rigid link as the controller for motion correction was introduced. This control strategy was tested over the entire trajectory to demonstrate that the tracking error could be reduced effectively. The best condition for minimizing the tracking error with the least impulse input at each joint is investigated by considering one design and one operating parameter. The first was the damping in the system, and the second was the sampling time during operation. The results show that this approach can provide useful guidance for the design and control of robot manipulators that require minimum impulse feedback for accurate tracking.

Keywords

References

  1. Markiewicz, B. R., 'Analysis of the Computer Torque Drive Method and Comparison with Conventional Position Servo for a Computer Controlled Manipulator,' Tech. Memorandum 33- 601, Jet Propulsion Lab., Pasadena, CA. 1973
  2. Bejczy, A. K., 'Robot Arm Dynamics and Control,' Tech. Memorandum, Jet Propulsion Lab., Pasadena, CA. 1974
  3. Egeland, O., 'On the Robustness of Computed Torque Method in Manipulator Control,' Proc. IEEE Int. Conf. on Robotics and Automation, pp. 1203-1208, 1986
  4. Slotine, J-J. and Li, W., 'On the Adaptive Control of Robot Manipulators,' International Journal of Robotics Research, Vol. 6, No. 3, pp. 49-59, 1987 https://doi.org/10.1177/027836498700600303
  5. Middleton, R. and Goodwin, G., 'Adaptive Computed Torque Control for Rigid Link Manipulators,' Systems and Control Letters, Vol. 10, No. 1, pp. 9-16, 1988 https://doi.org/10.1016/0167-6911(88)90033-3
  6. Koivo, A. and Guo, T., 'Adaptive Linear Controller for Robotic Manipulators,' IEEE Trans. on Automatic Control, Vol. 28, No. 2, pp.162-171, 1983 https://doi.org/10.1109/TAC.1983.1103211
  7. Slotine, J. J. and Sastry, S. S., 'Tracking Control of Non-Linear Systems Using Sliding Surfaces, with Application to Robot Manipulators,' Int. J. Control, Vol. 38, No. 2, pp.465-492, 1983 https://doi.org/10.1080/00207178308933088
  8. Chen, Y. F., Mita, T. and Wakui, S., 'A New and Simple Algorithm for Sliding Mode Trajectory Control of the Robot arm,' IEEE Trans. on Automatic Control, Vol. 33, No.7, July 1990
  9. Singer, N. C. and Seering, W. P., 'Preshaping Command Inputs to Reduce System Vibration,' ASME J. of Dynamic Systems, Measurement, and Control, pp. 76-82, Mar. 1990
  10. Luh, J. Y. S., Walker, M. W. and Paul, R. P. C., 'Resolved Acceleration Control of Mechanical Manipulators,' IEEE Trans. on Automatic Control,'pp. 468-474, July, 1980
  11. Gilbert, E. G.. and Ha, I. J., 'An Approach to Nonlinear Feedback Control with Application to Robotics,' Proc. 22nd IEEE Decision and Control Conference, San Antonio, TX., pp. 14-16, Dec. 1983
  12. Uebel, M. A., Minis, I. and Cleary, K., 'Improved Computed Torque Control for Industrial Robots,' Proc. IEEE Int. Conf. on Robotics and Automation, Nice, France, pp. 528-533, May, 1992 https://doi.org/10.1109/ROBOT.1992.220238
  13. Furuta, K., Mayeda H., 'Robust Control of a Robot Manipulator with Nonlinearity,' Robotica, Vol. 2, pp. 75-81, 1984 https://doi.org/10.1017/S0263574700001909
  14. Seraji, H., 'An approach to Multivariable Control of Manipulators,' Trans. ASME, Vol. 109, pp. 146-154, 1987 https://doi.org/10.1115/1.3248035
  15. Thomas, M. and Tesar, D., 'Dynamic Modeling of Serial Manipulator Arms,' ASME J. of Dynamic Systems, Measurement, and Control, Vol. 104, pp. 218-228, Sep. 1982 https://doi.org/10.1115/1.3139701
  16. Benedict, C. E. and Tesar, D., 'Dynamic Response Analysis of Quasi-Rigid Mechanical Systems Using Kinematic Influence Coefficients,' Journal of Mechanisms, Vol. 6, pp. 383, 1971
  17. Craig, J. J., 'Introduction to Robotics Mechanics and Control,' Addison-Wesley, Reading, Massachusetts, 1989
  18. Luh, J. Y. S., Walker, M. W. and Paul, R. P. C., 'On- Line Computational Scheme for Mechanical Manipulators,' ASME J. of Dynamic Systems, Measurement, and Control, Vol. 102, pp.69-76, June, 1980 https://doi.org/10.1115/1.3149599