Cruz et al., 2021 - Google Patents

Application of robust discontinuous control algorithm for a 5-DOF industrial robotic manipulator in real-time

Cruz et al., 2021

View PDF
Document ID
6694937959627807491
Author
Cruz G
Alazki H
Cortes-Vega D
Rullán-Lara J
Publication year
Publication venue
Journal of Intelligent & Robotic Systems

External Links

Snippet

Robotic manipulators are nonlinear systems that are extensively used in industrial applications to perform many complex and specialized tasks which requires high precision and accurate trajectory tracking. This paper proposes the real-time implementation of a …
Continue reading at link.springer.com (PDF) (other versions)

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
    • G05B13/027—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion using neural networks only
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B5/00—Anti-hunting arrangements

Similar Documents

Publication Publication Date Title
Ajwad et al. A systematic review of current and emergent manipulator control approaches
Wu et al. An iterative learning method for realizing accurate dynamic feedforward control of an industrial hybrid robot
Khan et al. Control strategies for robotic manipulators
Roveda et al. High-accuracy robotized industrial assembly task control schema with force overshoots avoidance
Xing et al. Modeling and robust adaptive iterative learning control of a vehicle‐based flexible manipulator with uncertainties
Nguyen et al. Global finite time active disturbance rejection control for parallel manipulators with unknown bounded uncertainties
Mazare et al. Fault-tolerant control based on adaptive super-twisting nonsingular integral-type terminal sliding mode for a delta parallel robot
Vo et al. Adaptive neural integral full-order terminal sliding mode control for an uncertain nonlinear system
Humaidi et al. Adaptive control of parallel manipulator in Cartesian space
Korayem et al. Application of the state‐dependent Riccati equation for flexible‐joint arms: Controller and estimator design
Pan et al. Enhanced robust motion tracking control for 6 degree-of-freedom industrial assembly robot with disturbance adaption
Roveda et al. Sensorless optimal switching impact/force controller
Jamian et al. Review on controller design in pneumatic actuator drive system
Cruz et al. Application of robust discontinuous control algorithm for a 5-DOF industrial robotic manipulator in real-time
Yu et al. Global fast terminal sliding mode control for robotic manipulators
Rahali et al. Fault tolerant control of robot manipulators based on adaptive fuzzy type-2 backstepping in attendance of payload variation
He et al. Adaptive fuzzy sliding mode control for redundant manipulators with varying payload
Al-Wais et al. Integral sliding mode controller for trajectory tracking of a phantom omni robot
Sheikhlar et al. Online policy iteration-based tracking control of four wheeled omni-directional robots
Wang et al. Output regulation of the ball and plate system with a nonlinear velocity observer
Zhang et al. Adaptive kinematic control of redundant manipulators
Tsaprounis et al. Sliding mode with adaptive estimation force control of robot manipulators interacting with an unknown passive environment
Albalasie et al. Using adaptive model predictive technique to control underactuated robot and minimize energy consumption
BENOTSMANE et al. SIMULATION OF INDUSTRIAL ROBOTS'SIX AXES MANIPULATOR ARMS-A CASE STUDY.
Tegegne et al. Trajectory Tracking Control of Three-Degree-of-Freedom Articulated Robot Manipulator Using Neural Network Controller