Open AccessJournal Article
On the Voltage-Based Control of Robot Manipulators
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In this article, a novel approach for controlling electrically driven robot manipulators based on voltage control is presented, where feedback linearization is applied on the electrical equations of the dc motors to cancel the current terms which transfer all manipulator dynamics to the electrical circuit of motor.Abstract:
This paper presents a novel approach for controlling electrically driven robot manipulators based on voltage control. The voltage-based control is preferred comparing to torque-based control. This approach is robust in the presence of manipulator uncertainties since it is free of the manipulator model. The control law is very simple, fast response, efficient, robust, and can be used for high-speed tracking purposes. The feedback linearization is applied on the electrical equations of the dc motors to cancel the current terms which transfer all manipulator dynamics to the electrical circuit of motor. The control system is simulated for position control of the PUMA 560 robot driven by permanent magnet dc motors.read more
Citations
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Journal ArticleDOI
Adaptive type-2 fuzzy estimation of uncertainties in the control of electrically driven flexible-joint robots:
TL;DR: In this article, the authors present a decentralized tracking control system of electrically driven flexible-joint robots by adaptive type-2 fuzzy estimation and compensation of uncertainties, which has important advantages over the torque control approaches in terms of being free from manipulator dynamics, computationally simple and decoupled.
Journal ArticleDOI
Discrete adaptive fuzzy control for asymptotic tracking of robotic manipulators
TL;DR: A novel discrete adaptive fuzzy controller for electrically driven robot manipulators that is robust against all uncertainties associated with the robot manipulator and actuators and easy to implement since it requires only the joint position feedback.
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Modeling and Robust Discrete LQ Repetitive Control of Electrically Driven Robots
TL;DR: The dynamic equation of an articulated robot is introduced and used for the simulation, modeling and control purposes and its ability in overcoming the uncertainty is highlighted.
Journal ArticleDOI
A Precise Robust Fuzzy Control of Robots Using Voltage Control Strategy
Mohammad Mehdi Fateh,Sara Fateh +1 more
TL;DR: This work uses voltage control strategy and convergence analysis to design a novel precise robust fuzzy control (PRFC) approach for electrically driven robot manipulators and regulates a fuzzy rule which governs the origin of the tracking space.
Journal ArticleDOI
Free-Chattering Fuzzy Sliding Mode Control of Robot Manipulators with Joints Flexibility in Presence of Matched and Mismatched Uncertainties in Model Dynamic and Actuators
TL;DR: A sliding surface with the time-varying parameter is proposed which not only eliminates chattering and increases the stability of the closed loop system, but also prevents the increase of the control input voltage.
References
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Book
Introduction to Robotics mechanics and Control
TL;DR: This chapter discusses Jacobians: Velocities and Static Forces, Robot Programming Languages and Systems, and Manipulator Dynamics, which focuses on the role of Jacobians in the control of Manipulators.
Book
Robot dynamics and control
TL;DR: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control, providing background material on terminology and linear transformations and examples illustrating all aspects of the theory and problems.
Book
Introduction to Robotics
TL;DR: Invention to Robotics provides both an introductory text for students coming new to the field and a survey of the state of the art for professional practitioners.
Journal ArticleDOI
A robotics toolbox for MATLAB
TL;DR: The Robotics Toolbox is a software package that allows a MATLAB user to readily create and manipulate datatypes fundamental to robotics such as homogeneous transformations, quaternions and trajectories.
Book
Model-Based Control of a Robot Manipulator
TL;DR: Model-based control of a robot manipulator has been studied in this paper, where the authors present the first integrated treatment of many of the most important recent developments in using detailed dynamic models of robots to improve their control.