Computed torque control for a spatial disorientation trainer
Апстракт
A development of a robot control system is a highly complex task due to nonlinear dynamic coupling between the robot links. Advanced robot control strategies often entail difficulties in implementation, and prospective benefits of their application need to be analyzed using simulation techniques. Computed torque control (CTC) is a feed-forward control method used for tracking of robot's time-varying trajectories in the presence of varying loads. For the implementation of CTC, the inverse dynamics model of the robot manipulator has to be developed. In this paper, the addition of CTC compensator to the feedback controller is considered for a Spatial disorientation trainer (SDT). This pilot training system is modeled as a 4DoF robot manipulator with revolute joints. For the designed mechanical structure, chosen actuators and considered motion of the SDT, CTC-based control system performance is compared with the traditional speed PI controller using the realistic simulation model. The simu...lation results, which showed significant improvement in the trajectory tracking for the designed SDT, can be used for the control system design purpose as well as within mechanical design verification.
Кључне речи:
Spatial Disorientation / Robot / Motion Control / Computed Torque ControlИзвор:
Facta Universitatis-Series Mechanical Engineering, 2020, 18, 2, 269-280Издавач:
- Univerzitet u Nišu, Niš
Финансирање / пројекти:
- Министарство науке, технолошког развоја и иновација Републике Србије, институционално финансирање - 200066 (Лола институт, Београд) (RS-200066)
- Министарство науке, технолошког развоја и иновација Републике Србије, институционално финансирање - 200105 (Универзитет у Београду, Машински факултет) (RS-200105)
- Министарство науке, технолошког развоја и иновација Републике Србије, институционално финансирање - 200034 (Универзитет у Београду, Институт 'Михајло Пупин') (RS-200034)
DOI: 10.22190/FUME190919003V
ISSN: 0354-2025
WoS: 000556543000008
Scopus: 2-s2.0-85088938139
Колекције
Институција/група
Mašinski fakultetTY - JOUR AU - Vidaković, Jelena AU - Kvrgić, Vladimir AU - Lazarević, Mihailo AU - Stepanić, Pavle PY - 2020 UR - https://machinery.mas.bg.ac.rs/handle/123456789/3421 AB - A development of a robot control system is a highly complex task due to nonlinear dynamic coupling between the robot links. Advanced robot control strategies often entail difficulties in implementation, and prospective benefits of their application need to be analyzed using simulation techniques. Computed torque control (CTC) is a feed-forward control method used for tracking of robot's time-varying trajectories in the presence of varying loads. For the implementation of CTC, the inverse dynamics model of the robot manipulator has to be developed. In this paper, the addition of CTC compensator to the feedback controller is considered for a Spatial disorientation trainer (SDT). This pilot training system is modeled as a 4DoF robot manipulator with revolute joints. For the designed mechanical structure, chosen actuators and considered motion of the SDT, CTC-based control system performance is compared with the traditional speed PI controller using the realistic simulation model. The simulation results, which showed significant improvement in the trajectory tracking for the designed SDT, can be used for the control system design purpose as well as within mechanical design verification. PB - Univerzitet u Nišu, Niš T2 - Facta Universitatis-Series Mechanical Engineering T1 - Computed torque control for a spatial disorientation trainer EP - 280 IS - 2 SP - 269 VL - 18 DO - 10.22190/FUME190919003V ER -
@article{ author = "Vidaković, Jelena and Kvrgić, Vladimir and Lazarević, Mihailo and Stepanić, Pavle", year = "2020", abstract = "A development of a robot control system is a highly complex task due to nonlinear dynamic coupling between the robot links. Advanced robot control strategies often entail difficulties in implementation, and prospective benefits of their application need to be analyzed using simulation techniques. Computed torque control (CTC) is a feed-forward control method used for tracking of robot's time-varying trajectories in the presence of varying loads. For the implementation of CTC, the inverse dynamics model of the robot manipulator has to be developed. In this paper, the addition of CTC compensator to the feedback controller is considered for a Spatial disorientation trainer (SDT). This pilot training system is modeled as a 4DoF robot manipulator with revolute joints. For the designed mechanical structure, chosen actuators and considered motion of the SDT, CTC-based control system performance is compared with the traditional speed PI controller using the realistic simulation model. The simulation results, which showed significant improvement in the trajectory tracking for the designed SDT, can be used for the control system design purpose as well as within mechanical design verification.", publisher = "Univerzitet u Nišu, Niš", journal = "Facta Universitatis-Series Mechanical Engineering", title = "Computed torque control for a spatial disorientation trainer", pages = "280-269", number = "2", volume = "18", doi = "10.22190/FUME190919003V" }
Vidaković, J., Kvrgić, V., Lazarević, M.,& Stepanić, P.. (2020). Computed torque control for a spatial disorientation trainer. in Facta Universitatis-Series Mechanical Engineering Univerzitet u Nišu, Niš., 18(2), 269-280. https://doi.org/10.22190/FUME190919003V
Vidaković J, Kvrgić V, Lazarević M, Stepanić P. Computed torque control for a spatial disorientation trainer. in Facta Universitatis-Series Mechanical Engineering. 2020;18(2):269-280. doi:10.22190/FUME190919003V .
Vidaković, Jelena, Kvrgić, Vladimir, Lazarević, Mihailo, Stepanić, Pavle, "Computed torque control for a spatial disorientation trainer" in Facta Universitatis-Series Mechanical Engineering, 18, no. 2 (2020):269-280, https://doi.org/10.22190/FUME190919003V . .