Feedback Linearization Control of a Two – Link Gripping Mechanism
2021
Аутори
Vesović, MitraJovanović, Radiša
Laban, Lara
Bugarić, Uglješa
Остала ауторства
Savković, MileКонференцијски прилог (Објављена верзија)
Метаподаци
Приказ свих података о документуАпстракт
This paper presents a feedback linearization controller for trajectory tracking of two degrees of freedom (2DOF) gripping mechanism. To reach this goal, after deriving the dynamical equations of the gripping mechanism, the feedback linearization approach is utilized to change the nonlinear dynamics to a linear one. Classical proportional-derivative controller with feedback linearization is applied for positioning and tracking control. Furthermore, in order to achieve movement of the mechanism without the sudden stopping at the desired point, a trapezoidal velocity profile is used to obtain desired trajectory. Numerical simulations using Matlab/Simulink successfully demonstrate the effectiveness of the proposed method.
Кључне речи:
Gripping mechanism / Robotics / Feedback linearization / Control engineeringИзвор:
X International Conference “Heavy Machinery-HM 2021”, Vrnjačka Banja, 23– 25 June 2021, 2021, SESSION C: AUTOMATIC CONTROL AND FLUID TECHNIQUE pp. 9-16Издавач:
- 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-ScienceFundRS-AI-6523109)
- Министарство науке, технолошког развоја и иновација Републике Србије, институционално финансирање - 200105 (Универзитет у Београду, Машински факултет) (RS-MESTD-inst-2020-200105)
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Vesović, Mitra AU - Jovanović, Radiša AU - Laban, Lara AU - Bugarić, Uglješa PY - 2021 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4519 AB - This paper presents a feedback linearization controller for trajectory tracking of two degrees of freedom (2DOF) gripping mechanism. To reach this goal, after deriving the dynamical equations of the gripping mechanism, the feedback linearization approach is utilized to change the nonlinear dynamics to a linear one. Classical proportional-derivative controller with feedback linearization is applied for positioning and tracking control. Furthermore, in order to achieve movement of the mechanism without the sudden stopping at the desired point, a trapezoidal velocity profile is used to obtain desired trajectory. Numerical simulations using Matlab/Simulink successfully demonstrate the effectiveness of the proposed method. PB - Kraljevo : Faculty of Mechanical and Civil Engineering C3 - X International Conference “Heavy Machinery-HM 2021”, Vrnjačka Banja, 23– 25 June 2021 T1 - Feedback Linearization Control of a Two – Link Gripping Mechanism EP - 16 SP - SESSION C: AUTOMATIC CONTROL AND FLUID TECHNIQUE pp. 9 UR - https://hdl.handle.net/21.15107/rcub_machinery_4519 ER -
@conference{ author = "Vesović, Mitra and Jovanović, Radiša and Laban, Lara and Bugarić, Uglješa", year = "2021", abstract = "This paper presents a feedback linearization controller for trajectory tracking of two degrees of freedom (2DOF) gripping mechanism. To reach this goal, after deriving the dynamical equations of the gripping mechanism, the feedback linearization approach is utilized to change the nonlinear dynamics to a linear one. Classical proportional-derivative controller with feedback linearization is applied for positioning and tracking control. Furthermore, in order to achieve movement of the mechanism without the sudden stopping at the desired point, a trapezoidal velocity profile is used to obtain desired trajectory. Numerical simulations using Matlab/Simulink successfully demonstrate the effectiveness of the proposed method.", publisher = "Kraljevo : Faculty of Mechanical and Civil Engineering", journal = "X International Conference “Heavy Machinery-HM 2021”, Vrnjačka Banja, 23– 25 June 2021", title = "Feedback Linearization Control of a Two – Link Gripping Mechanism", pages = "16-SESSION C: AUTOMATIC CONTROL AND FLUID TECHNIQUE pp. 9", url = "https://hdl.handle.net/21.15107/rcub_machinery_4519" }
Vesović, M., Jovanović, R., Laban, L.,& Bugarić, U.. (2021). Feedback Linearization Control 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. 9-16. https://hdl.handle.net/21.15107/rcub_machinery_4519
Vesović M, Jovanović R, Laban L, Bugarić U. Feedback Linearization Control 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. 9-16. https://hdl.handle.net/21.15107/rcub_machinery_4519 .
Vesović, Mitra, Jovanović, Radiša, Laban, Lara, Bugarić, Uglješa, "Feedback Linearization Control 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. 9-16, https://hdl.handle.net/21.15107/rcub_machinery_4519 .