ANALYTICAL DESIGN OF RESONANT CONTROLLER APPLIED FOR SOLVING ROBOT ARM TRACKING PROBLEM
Апстракт
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.
Кључне речи:
robot trajectory control / resonant controller / robust control / inverse kinematicsИзвор:
Proceedings 9th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023, 2023, 275-282Издавач:
- Belgrade: Serbian Society of Mechanics
Финансирање / пројекти:
- Министарство науке, технолошког развоја и иновација Републике Србије, институционално финансирање - 200105 (Универзитет у Београду, Машински факултет) (RS-MESTD-inst-2020-200105)
- Министарство науке, технолошког развоја и иновација Републике Србије, институционално финансирање - 200103 (Универзитет у Београду, Електротехнички факултет) (RS-MESTD-inst-2020-200103)
Колекције
Институција/група
Mašinski fakultetTY - 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 .