Robust control design for a planar humanoid robot arm with high strength composite gear and experimental validation

被引：24

作者：

Huang, Kang ^{[1
,2
]}

Xian, Yuanjie ^{[1
]}

Zhen, Shengchao ^{[1
,2
]}

Sun, Hao ^{[1
,2
]}

机构：

[1] Hefei Univ Technol, Sch Mech Engn, Hefei 230009, Anhui, Peoples R China

[2] Hefei Univ Technol, AnHui Key Lab Digital Design & Mfg, Hefei 230009, Anhui, Peoples R China

来源：

MECHANICAL SYSTEMS AND SIGNAL PROCESSING | 2021年 / 155卷

关键词：

Robust control; Uncertainty; Lyapunov method; Trajectory tracking; Humanoid robot arm; TRACKING CONTROL; PID CONTROL; MANIPULATORS; SPACE;

D O I：

10.1016/j.ymssp.2020.107442

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Aiming at uncertainties and variable loads of the robot arm, a nonlinear control algorithm is proposed. The design of the proposed control is based on the engineering practice of the planar humanoid robot arm with high strength composite gear. The proposed control, consisting of a PD control portion and a robust control portion, retains the dynamic characteristics of the system and realizes based on error. Theoretical analysis shows that the proposed control can guarantee the uniform boundedness and uniform ultimate boundedness. Based on the humanoid robot arm, the experimental validation with the proposed control is carried out and compared with the PID control. Numerical simulations and experimental results show that the proposed control can effectively deal with load changes and parameter uncertainties, and the trajectory tracking accuracy of the robot is improved significantly with the proposed control. (c) 2020 Elsevier Ltd. All rights reserved.

引用

页数：12

共 34 条

[1]

[Anonymous], 1993, A Mathematical Introduction to Robotic Manipulation

[2] A New Adaptive Sliding-Mode Control Scheme for Application to Robot Manipulators [J].

Baek, Jaemin ;

Jin, Maolin ;

Han, Soohee .

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2016, 63 (06) :3628-3637

[3] ON THE DETERMINISTIC PERFORMANCE OF UNCERTAIN DYNAMIC-SYSTEMS [J].

CHEN, YH .

INTERNATIONAL JOURNAL OF CONTROL, 1986, 43 (05) :1557-1579

[4] CONTROL OF UNCERTAIN NONLINEAR-SYSTEMS [J].

CORLESS, M .

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 1993, 115 (2B) :362-372

[5] CONTINUOUS STATE FEEDBACK GUARANTEEING UNIFORM ULTIMATE BOUNDEDNESS FOR UNCERTAIN DYNAMIC-SYSTEMS [J].

CORLESS, MJ ;

LEITMANN, G .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1981, 26 (05) :1139-1144

[6] On the trajectory tracking control for an SCARA robot manipulator in a fractional model driven by induction motors with PSO tuning [J].

Coronel-Escamilla, A. ;

Torres, F. ;

Gomez-Aguilar, J. F. ;

Escobar-Jimenez, R. F. ;

Guerrero-Ramirez, G. V. .

MULTIBODY SYSTEM DYNAMICS, 2018, 43 (03) :257-277

[7] Design of interval type-2 fuzzy precompensated PID controller applied to two-DOF robotic manipulator with variable payload [J].

Gaidhane, Prashant J. ;

Nigam, Madhav J. ;

Kumar, Anupam ;

Pradhan, Pyari Mohan .

ISA TRANSACTIONS, 2019, 89 :169-185

[8] Finite-time trajectory tracking control in a task space of robotic manipulators [J].

Galicki, Miroslaw .

AUTOMATICA, 2016, 67 :165-170

[9] Adaptive Fuzzy Neural Network Control for a Constrained Robot Using Impedance Learning [J].

He, Wei ;

Dong, Yiting .

IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS, 2018, 29 (04) :1174-1186

[10] Dynamic Modeling, Simulation, and Experimental Verification of a Wafer Handling SCARA Robot With Decoupling Servo Control [J].

He, Yunbo ;

Mai, Xiquan ;

Cui, Chengqiang ;

Gao, Jian ;

Yang, Zhijun ;

Zhang, Kai ;

Chen, Xun ;

Chen, Yun ;

Tang, Hui .

IEEE ACCESS, 2019, 7 :47143-47153

← 1 2 3 4 →