Dynamic Feedforward Control of Robot Manipulator: A HIL Simulation Study

被引：1
|
作者：
Hu, Rong [1 ]
Gu, Qiang [2 ]
Wang, Yusu [1 ]
Tian, Sijia [1 ]
Li, Ruige [1 ]
He, Dingxin [1 ]
机构：
[1] Huazhong Univ Sci & Technol, Wuhan, Peoples R China
[2] PS Micro, Wuhan, Peoples R China
来源：
2020 CHINESE AUTOMATION CONGRESS (CAC 2020) | 2020年
关键词：
robot manipulator; dynamic feedforward control; system identification; Hardware-in-the-Loop (HIL);
D O I：
10.1109/CAC51589.2020.9327627
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The dynamic feedforward control aims to achieve fast tracking for robot manipulators based on the inverse dynamic model. It is essential to identify the model parameters with excitation trajectories. However, it is complex to test the dynamic feedforward control algorithm in physical devices. In this paper, a robot system based on Hardware-In-the-Loop (IIIL) is presented to make a bridge between software simulation and hardware controller. It can be used for accelerating control algorithm verification. The HIL simulation results show that the feedforward control and proposed robot parameter identification are feasible to improve the robot tracking performance.
引用
收藏
页码：64 / 69
页数：6
相关论文
共 50 条
  • [1] Dynamic Feedforward-Based Fractional Order Impedance Control for Robot Manipulator
    Ding, Yixiao
    Luo, Ying
    Chen, Yangquan
    FRACTAL AND FRACTIONAL, 2023, 7 (01)
  • [2] Dynamic simulation of the robot manipulator for mobile based rescue robot
    Park, Dong Il
    Park, Chanhun
    Kim, Hwisu
    Park, Joohan
    Kim, Doohyung
    2015 12TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI), 2015, : 345 - 346
  • [3] IDENTIFICATION OF DYNAMIC PARAMETERS AND FEEDFORWARD CONTROL FOR A CONVENTIONAL INDUSTRIAL MANIPULATOR
    CACCAVALE, F
    CHIACCHIO, P
    CONTROL ENGINEERING PRACTICE, 1994, 2 (06) : 1039 - 1050
  • [4] A Robot Manipulator Dynamic modeling and linearizing control
    Awatef, Azaza
    Mouna, Ben Hamed
    Sbita, Lassaad
    2014 INTERNATIONAL CONFERENCE ON ELECTRICAL SCIENCES AND TECHNOLOGIES IN MAGHREB (CISTEM), 2014,
  • [5] Study on dynamic modeling and control simulation of space robot
    Hu Song-hua
    Xue Li-jun
    Qiang Wen-yi
    Liang Bin
    Li Cheng
    Proceedings of 2005 Chinese Control and Decision Conference, Vols 1 and 2, 2005, : 1978 - +
  • [6] Robot Manipulator Control System with Dynamic Moment Compensation
    Tyutikov, V. V.
    Krasilnikyants, E. V.
    Varkov, A. A.
    AUTOMATION AND REMOTE CONTROL, 2019, 80 (01) : 189 - 199
  • [7] Robust output tracking control and simulation for robot manipulator
    Yang, Guo-Jun
    Cui, Ping-Yuan
    Li, Lin-Lin
    Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics, 2002, 24 (01):
  • [8] Robot Manipulator Control System with Dynamic Moment Compensation
    V. V. Tyutikov
    E. V. Krasilnikyants
    A. A. Varkov
    Automation and Remote Control, 2019, 80 : 189 - 199
  • [9] Dynamic tracking control of space robot flexible manipulator
    Ding, Xilun
    Wang, Shuguo
    Cai, Hegao
    Jiqiren/Robot, 1997, 19 (04): : 256 - 258
  • [10] Dynamic Control for Robot Manipulator Based on the Neural Network
    孙迪生
    宋新民
    Journal of Harbin Institute of Technology, 1995, (04) : 50 - 54
12345