Ministry of Education, Science and Technological Development, Republic of Serbia, Grant no. 200103 (University of Belgrade, Faculty of Electrical Engineering)

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Ministry of Education, Science and Technological Development, Republic of Serbia, Grant no. 200103 (University of Belgrade, Faculty of Electrical Engineering) (en)
Ministarstvo prosvete, nauke i tehnološkog razvoja Republike Srbije, Ugovor br. 200103 (Univerzitet u Beogradu, Elektrotehnički fakultet) (sr_RS)
Министарство просвете, науке и технолошког развоја Републике Србије, Уговор бр. 200103 (Универзитет у Београду, Електротехнички факултет) (sr)
Authors

Publications

ANALYTICAL DESIGN OF RESONANT CONTROLLER APPLIED FOR SOLVING ROBOT ARM TRACKING PROBLEM

Mandić, Petar; Šekara, Tomislav; Lazarević, Mihailo

(Belgrade: Serbian Society of Mechanics, 2023) 

TY  - CONF
AU  - Mandić, Petar
AU  - Šekara, Tomislav
AU  - Lazarević, Mihailo
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7237
AB  - This paper deals with a topic of robot following a trajectory in three-dimensional space with a prescribed velocity law. Considering the nonlinear nature of robot manipulators, and high demands regarding tracking performances, this task is very challenging, but also very popular in control community because of its importance in industrial applications. To tackle successfully this problem, we proposed a resonant controller, which outperforms classical control schemes usually employed in this situation. In this particular case, robot manipulator needs to follow an ellipse trajectory with constant speed along the curve. First, mathematical model of three degrees of freedom robot arm is derived with included actuator dynamics. Then, numerical solution of inverse kinematics problem needs to be calculated in order to obtain desired trajectory in joint space. Third, analytical procedure for designing resonant controller is given, with parameters of the controller chosen in order to achieve a good performance/robustness trade-off, which is a key element in modern control design. Finally, proposed control scheme is tested and results of robot simulation are given in the end. Final remarks conclude the paper.
PB  - Belgrade: Serbian Society of Mechanics
C3  - Proceedings 9th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023
T1  - ANALYTICAL DESIGN OF RESONANT CONTROLLER APPLIED FOR SOLVING ROBOT ARM TRACKING PROBLEM
EP  - 282
SP  - 275
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7237
ER  - 
@conference{
author = "Mandić, Petar and Šekara, Tomislav and Lazarević, Mihailo",
year = "2023",
abstract = "This paper deals with a topic of robot following a trajectory in three-dimensional space with a prescribed velocity law. Considering the nonlinear nature of robot manipulators, and high demands regarding tracking performances, this task is very challenging, but also very popular in control community because of its importance in industrial applications. To tackle successfully this problem, we proposed a resonant controller, which outperforms classical control schemes usually employed in this situation. In this particular case, robot manipulator needs to follow an ellipse trajectory with constant speed along the curve. First, mathematical model of three degrees of freedom robot arm is derived with included actuator dynamics. Then, numerical solution of inverse kinematics problem needs to be calculated in order to obtain desired trajectory in joint space. Third, analytical procedure for designing resonant controller is given, with parameters of the controller chosen in order to achieve a good performance/robustness trade-off, which is a key element in modern control design. Finally, proposed control scheme is tested and results of robot simulation are given in the end. Final remarks conclude the paper.",
publisher = "Belgrade: Serbian Society of Mechanics",
journal = "Proceedings 9th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023",
title = "ANALYTICAL DESIGN OF RESONANT CONTROLLER APPLIED FOR SOLVING ROBOT ARM TRACKING PROBLEM",
pages = "282-275",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7237"
}
Mandić, P., Šekara, T.,& Lazarević, M.. (2023). ANALYTICAL DESIGN OF RESONANT CONTROLLER APPLIED FOR SOLVING ROBOT ARM TRACKING PROBLEM. in Proceedings 9th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023
Belgrade: Serbian Society of Mechanics., 275-282.
https://hdl.handle.net/21.15107/rcub_machinery_7237
Mandić P, Šekara T, Lazarević M. ANALYTICAL DESIGN OF RESONANT CONTROLLER APPLIED FOR SOLVING ROBOT ARM TRACKING PROBLEM. in Proceedings 9th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023. 2023;:275-282.
https://hdl.handle.net/21.15107/rcub_machinery_7237 .
Mandić, Petar, Šekara, Tomislav, Lazarević, Mihailo, "ANALYTICAL DESIGN OF RESONANT CONTROLLER APPLIED FOR SOLVING ROBOT ARM TRACKING PROBLEM" in Proceedings 9th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023 (2023):275-282,
https://hdl.handle.net/21.15107/rcub_machinery_7237 .