Trajectory Tracking of a Two – Link Gripping Mechanism
2021
Аутори
Jovanović, RadišaBugarić, Uglješa
Laban, Lara
Vesović, Mitra
Остала ауторства
Savković, MileКонференцијски прилог (Објављена верзија)
Метаподаци
Приказ свих података о документуАпстракт
The manufacturing industry frequently deals with the problem of gripping mechanism and their movement optimization. This paper presents an optimization methodology based on the whale optimization algorithm to design an optimal fuzzy PD controller of a two - link gripping mechanism (robot arm) as a part of mobile robot working cycle. The dynamical analysis of gripping mechanism investigates a coupling relation between the joint torques applied by the actuators and the position and acceleration of the robot arm. The proposed fuzzy controller optimizes the trajectory of the
robot’s end effector. Additionally, a simulation study was done for the specific initial case and the trapezoidal velocity profile was generated. Based on the predefined acceleration, movement of the robot arm is shown to be smooth and without an abrupt braking.
Кључне речи:
Gripping mechanism / Trajectory tracking / Fuzzy controller / Whale optimization algorithmИзвор:
X International Conference “Heavy Machinery-HM 2021”, Vrnjačka Banja, 23– 25 June 2021, 2021, SESSION C: AUTOMATIC CONTROL AND FLUID TECHNIQUE pp. 1-8Издавач:
- Kraljevo : Faculty of Mechanical and Civil Engineering
Финансирање / пројекти:
- MISSION4.0 - Deep Machine Learning and Swarm Intelligence-Based Optimization Algorithms for Control and Scheduling of Cyber-Physical Systems in Industry 4.0 (RS-6523109)
- Министарство науке, технолошког развоја и иновација Републике Србије, институционално финансирање - 200105 (Универзитет у Београду, Машински факултет) (RS-200105)
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Jovanović, Radiša AU - Bugarić, Uglješa AU - Laban, Lara AU - Vesović, Mitra PY - 2021 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4517 AB - The manufacturing industry frequently deals with the problem of gripping mechanism and their movement optimization. This paper presents an optimization methodology based on the whale optimization algorithm to design an optimal fuzzy PD controller of a two - link gripping mechanism (robot arm) as a part of mobile robot working cycle. The dynamical analysis of gripping mechanism investigates a coupling relation between the joint torques applied by the actuators and the position and acceleration of the robot arm. The proposed fuzzy controller optimizes the trajectory of the robot’s end effector. Additionally, a simulation study was done for the specific initial case and the trapezoidal velocity profile was generated. Based on the predefined acceleration, movement of the robot arm is shown to be smooth and without an abrupt braking. PB - Kraljevo : Faculty of Mechanical and Civil Engineering C3 - X International Conference “Heavy Machinery-HM 2021”, Vrnjačka Banja, 23– 25 June 2021 T1 - Trajectory Tracking of a Two – Link Gripping Mechanism EP - 8 SP - SESSION C: AUTOMATIC CONTROL AND FLUID TECHNIQUE pp. 1 UR - https://hdl.handle.net/21.15107/rcub_machinery_4517 ER -
@conference{ author = "Jovanović, Radiša and Bugarić, Uglješa and Laban, Lara and Vesović, Mitra", year = "2021", abstract = "The manufacturing industry frequently deals with the problem of gripping mechanism and their movement optimization. This paper presents an optimization methodology based on the whale optimization algorithm to design an optimal fuzzy PD controller of a two - link gripping mechanism (robot arm) as a part of mobile robot working cycle. The dynamical analysis of gripping mechanism investigates a coupling relation between the joint torques applied by the actuators and the position and acceleration of the robot arm. The proposed fuzzy controller optimizes the trajectory of the robot’s end effector. Additionally, a simulation study was done for the specific initial case and the trapezoidal velocity profile was generated. Based on the predefined acceleration, movement of the robot arm is shown to be smooth and without an abrupt braking.", publisher = "Kraljevo : Faculty of Mechanical and Civil Engineering", journal = "X International Conference “Heavy Machinery-HM 2021”, Vrnjačka Banja, 23– 25 June 2021", title = "Trajectory Tracking of a Two – Link Gripping Mechanism", pages = "8-SESSION C: AUTOMATIC CONTROL AND FLUID TECHNIQUE pp. 1", url = "https://hdl.handle.net/21.15107/rcub_machinery_4517" }
Jovanović, R., Bugarić, U., Laban, L.,& Vesović, M.. (2021). Trajectory Tracking of a Two – Link Gripping Mechanism. in X International Conference “Heavy Machinery-HM 2021”, Vrnjačka Banja, 23– 25 June 2021 Kraljevo : Faculty of Mechanical and Civil Engineering., SESSION C: AUTOMATIC CONTROL AND FLUID TECHNIQUE pp. 1-8. https://hdl.handle.net/21.15107/rcub_machinery_4517
Jovanović R, Bugarić U, Laban L, Vesović M. Trajectory Tracking of a Two – Link Gripping Mechanism. in X International Conference “Heavy Machinery-HM 2021”, Vrnjačka Banja, 23– 25 June 2021. 2021;:SESSION C: AUTOMATIC CONTROL AND FLUID TECHNIQUE pp. 1-8. https://hdl.handle.net/21.15107/rcub_machinery_4517 .
Jovanović, Radiša, Bugarić, Uglješa, Laban, Lara, Vesović, Mitra, "Trajectory Tracking of a Two – Link Gripping Mechanism" in X International Conference “Heavy Machinery-HM 2021”, Vrnjačka Banja, 23– 25 June 2021 (2021):SESSION C: AUTOMATIC CONTROL AND FLUID TECHNIQUE pp. 1-8, https://hdl.handle.net/21.15107/rcub_machinery_4517 .