Open AccessJournal Article
On the Voltage-Based Control of Robot Manipulators
TLDR
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
Modeling and control of a 3-DOF articulated robotic manipulator using self-tuning fuzzy sliding mode controller
TL;DR: The simulation results show that the designed controller (ST-FSMC) has a superior tracking performance, is robust and is not sensitive to applied model parameter variations as compared to other conventional controllers.
Journal ArticleDOI
Stability Analysis of a Voltage-Based Controller for Robot Manipulators
TL;DR: In order to avoid the singularity of the closed-loop system, modified voltage-based control schemes are proposed, whose Lyapunov stability analyses conclude semiglobal asymptotic stability for the set-point control case and uniform boundedness of the solutions andSemiglobal convergence of the position.
Proceedings Article
Variable Impedance Control for Rehabilitation Robot using Interval Type-2 Fuzzy Logic
TL;DR: In this article, a variable impedance control for a lower-limb rehabilitation robotic system using voltage control strategy is presented, where the nonlinear dynamic of rehabilitation robot is handled as an external load, hence the control law is free from robot dynamic and the impedance controller is computationally simpler, faster and more robust with negligible tracking error.
Journal ArticleDOI
An uncertainty compensator for robust control of wheeled mobile robots
TL;DR: A novel gradient-based adaptive fuzzy estimator is developed to compensate uncertainties with minimum required feedback signals and guarantees that both the estimation error and tracking error converge asymmetrically to ignorable value.
Journal ArticleDOI
Voltage-Base Control of Robot Manipulator Using Adaptive Fuzzy Sliding Mode Control
TL;DR: Mathematical proof investigates that a closed-loop system with the proposed control and in the presence of existing uncertainties in the dynamic equations of robot manipulator and its actuators has global asymptotic stability.
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.