• Title/Summary/Keyword: Cartesian space control

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A Robust Adaptive Control of Robot Manipulator Based on TMS320C80

  • Han, Sung-Hyun;Jung, Dong-Yean;Shin, Heang-Bong
    • 제어로봇시스템학회:학술대회논문집
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    • 2003.10a
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    • pp.2540-2545
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    • 2003
  • We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

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Design of a Adaptive Controller of Industrial Robot with Eight Joint Based on Digital Signal Processor

  • Han, Sung-Hyun;Jung, Dong-Yean;Kim, Hong-Rae
    • 제어로봇시스템학회:학술대회논문집
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    • 2004.08a
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    • pp.741-746
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    • 2004
  • We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

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A Study on Track Record and Trajectory Control of Articulated Robot Based on Monitoring Simulator for Smart Factory

  • Kim, Hee-Jin;Dong, Guen-Han;Kim, Dong-Ho;Jang, Gi-Won;Han, Sung-Hyun
    • Journal of the Korean Society of Industry Convergence
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    • v.23 no.2_1
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    • pp.149-161
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    • 2020
  • We describe a new approach to implement of trajectory control and track record of articulated manipulator based on monitoring simulator for smart factory. The learning control algorithm was applied in implementation real-time control to provide enhanced motion control performance for robotic manipulators. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, or values of manipulator parameters and payload. Performance of the proposed controller is illustrated by simulation and experimental results for robot manipulator consisting of six joints at the joint space and Cartesian space.by monitoring simulator.

Chracteristics of the path deviation of the robot manipulator using the variable structure control method (가변 구조 제어 방식을 이용한 로보트 매니플레이터의 경로 이탈 특성)

  • 이홍규;이범희;최계근
    • 제어로봇시스템학회:학술대회논문집
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    • 1988.10a
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    • pp.63-66
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    • 1988
  • In the control of the robotic manipulators, the variable structure control method for the get Point Regualation has a advantage of the insensitivity about parameter variations and disturbances. When the robotic manipulators are controlled by a point-to-point scheme, no path constraint is considered. Thus, the variable structure control method will be effectively applied only if the trajectory of the robot hand is estimated precisely. In this paper, the joint trajectories in the joint space and the hand trajectory in the cartesian space are calculated by the variable structure control method, and an algorithm is suggested to elaborate the deviation error of the robot hand from a straight line path. The result of this study will become a base of the effective path planning about robotic manipulators with the variable structure control concept.

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A User Interface for Vision Sensor based Indirect Teaching of a Robotic Manipulator (시각 센서 기반의 다 관절 매니퓰레이터 간접교시를 위한 유저 인터페이스 설계)

  • Kim, Tae-Woo;Lee, Hoo-Man;Kim, Joong-Bae
    • Journal of Institute of Control, Robotics and Systems
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    • v.19 no.10
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    • pp.921-927
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    • 2013
  • This paper presents a user interface for vision based indirect teaching of a robotic manipulator with Kinect and IMU (Inertial Measurement Unit) sensors. The user interface system is designed to control the manipulator more easily in joint space, Cartesian space and tool frame. We use the skeleton data of the user from Kinect and Wrist-mounted IMU sensors to calculate the user's joint angles and wrist movement for robot control. The interface system proposed in this paper allows the user to teach the manipulator without a pre-programming process. This will improve the teaching time of the robot and eventually enable increased productivity. Simulation and experimental results are presented to verify the performance of the robot control and interface system.

A Study on the Path Deviation of the Robot System by Variable Structure Control (가변구조 제어에 의한 로보트 시스템의 경로 이탈에 관한 연구)

  • 이홍규;이범희;최계근
    • Journal of the Korean Institute of Telematics and Electronics
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    • v.25 no.12
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    • pp.1601-1609
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    • 1988
  • In the control of the robotic manipulators, the variable structure control method for the set point Regualation has an advantage of the insensitivity about parameter variations and disturbances. When the robotic manipulatores are controlled by a point-to-point scheme, no path constraint is considered. Thus, the variable structure control method will be effectively applied only if the trajectory of the robot hand is estimated precisely. In this paper, the joint trajectories in the joint space and the hand trajectory in the cartesian space are calculated by the variable structure control method, and an algorithm is suggested to elaborate the deviation error of the robot hand from a straight line path. The result of this study will become a base of the effective path planning about robotic manipulators with the variable structure control concept.

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Construction of minimum time joint trajectory for an industrial manipulator using FTM

  • Cho, H.C.;Oh, Y.S.;Jeon, H.T.
    • 제어로봇시스템학회:학술대회논문집
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    • 1987.10a
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    • pp.882-885
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    • 1987
  • The path of an industrial manipulator in a crowded workspace generally consists of 8 set of Cartesian straight line path connecting a set of two adjacent points. To achieve the Cartesian straight line path is, however, a nontrivial task and an alternative approach is to place enough intermediate points along a desired path and linearly interpolate between these points in the joint space. A method is developed that determines the subtravelling- and the transition-time such that the total travelling time for this path is minimized subject to the maximum joint velocities and accelerations constraint. The method is based on the application of nonlinear programming technique, i.e., FTM (Flexible Tolerance Method). These results are simulated on a digital computer using a six-joint revolute manipulator to show their applications.

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A Robust Adaptive Control of Dual Arm Robot with Eight-Joints Based on DSPs (DSPs 기반 8축 듀얼암 로봇의 견실적응제어)

  • Han, Sung-Hyun
    • Journal of Institute of Control, Robotics and Systems
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    • v.12 no.12
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    • pp.1220-1230
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    • 2006
  • In this paper, we propose a flew technique to the design and real-time control of an adaptive controller for robotic manipulator based on digital signal processors. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved Lyapunov second method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot manipulator with eight joints. joint space and cartesian space.

A Study on Kinematics Modeling and Motion Control Algorithm Development in Joint for Vertical Type Articulated Robot Arma (수직다관절형 아암의 운동학적 모델링 및 관절공간 모션제어에 관한 연구)

  • Jo, Sang-Young;Kim, Min-Seong;Yang, Jun-Seok;Won, Jong-Beom;Han, Sung-Hyun
    • Journal of the Korean Society of Industry Convergence
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    • v.19 no.1
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    • pp.18-30
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    • 2016
  • In this paper, we propose a new technique to the design and real-time control of an adaptive controller for robotic manipulator based on digital signal processors. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved Lyapunov second method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot manipulator with eight joints. joint space and cartesian space.

Joint Space Trajectory Planning Considering Physical Limits for Two-wheeled Mobile Robots (물리적 제한을 고려한 두 바퀴 로봇의 관절 공간 궤적 생성 방법)

  • Yang, Gil-Jin;Choi, Byoung-Wook
    • Journal of Institute of Control, Robotics and Systems
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    • v.19 no.6
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    • pp.540-546
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    • 2013
  • This paper presents a trajectory planning algorithm for TMR (Two-wheeled Mobile Robots). The trajectory is developed in joint space and considers the physical limits of a TMR. First, we present a process for generating a smooth curve through a Bezier curve. The trajectory for the center of the TMR following the Bezier curve is developed through a convolution operator taking into consideration its physical limits. The trajectory along the Bezier curve is regenerated using time-dependent parameters which correspond to the distance driven by the velocity of the center of the TMR in a sampling time. The velocity commands in the Cartesian space are converted to actuator commands for two wheels. In case that the actuator commands exceed the maximum velocity, the trajectory is redeveloped with compensated center velocity. We also suggest a smooth trajectory planning algorithm in joint space for the two segmented paths. Finally, the effectiveness of the algorithm is shown through numerical examples and application to a simulator.